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+{"episode_index": 6, "tasks": ["place tool"], "length": 97, "global_instruction": "Place the orange-handled screwdriver into the black bowl", "scene_description": "A white worktable holds an orange-handled screwdriver, a black bowl, a blue fixture, and a notebook with red marks. A red emergency stop button sits on the left metal platform, with office desks, monitors, an office chair, a whiteboard and a door in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the orange-handled screwdriver on the tabletop, grasps the screwdriver, lifts it to position over the black bowl, releases the screwdriver to drop it into the bowl, then pulls back.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 7, "tasks": ["place tool"], "length": 124, "global_instruction": "Pick up the orange T-handle screwdriver and place it into the black bowl", "scene_description": "A white tabletop holds an orange T-handle screwdriver, a black bowl, a blue fixture, and a marked sheet of paper. A robotic arm is partially visible at the right edge, with an office workspace with desks, monitors, a chair, and a whiteboard in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange T-handle screwdriver on the table, grasps it, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 8, "tasks": ["place tool"], "length": 98, "global_instruction": "Place the red-handled screwdriver into the black bowl on the table.", "scene_description": "A white tabletop holds a red-handled screwdriver, a blue tool holder, and a black bowl; a robotic arm is at the upper right, with office desks, chairs, a whiteboard in the background, and a red emergency stop button on the left metal panel.", "global_instruction_dense": "The right robotic gripper moves toward the red-handled screwdriver on the table, grasps it, lifts and moves it over the black bowl, then releases the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 9, "tasks": ["place tool"], "length": 95, "global_instruction": "Place the orange-handled hex key into the black bowl.", "scene_description": "A white table holds a blue holder with an orange-handled hex key, a black bowl, and a marked paper sheet. A metal panel with a red emergency stop button sits left of the table, with office desks, monitors, a gray chair, and a white door in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled hex key on the blue holder, grasps the hex key, lifts it, moves it over the adjacent black bowl, and releases the hex key into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 10, "tasks": ["place tool"], "length": 90, "global_instruction": "Place the orange screwdriver into the black bowl", "scene_description": "A white worktable holds an orange screwdriver, black bowl, and blue tool holder, with the screwdriver next to the blue holder and the bowl to the right of the screwdriver. A robotic arm is at the right of the table, with a red emergency stop button on the left metal work surface, and a lab office area in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange screwdriver, grasps it, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 11, "tasks": ["place tool"], "length": 127, "global_instruction": "Place the orange-handled screwdriver into the black bowl on the work table.", "scene_description": "A white work table holds a blue and orange fixture, an orange-handled screwdriver, a black bowl, and a printed clipboard. To the left of the table is a robotic arm base with a red emergency stop button, with an office workspace including desks, monitors, and an office chair in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the orange-handled screwdriver, grasps and lifts it, moves it over the black bowl, then releases it to drop the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 12, "tasks": ["place tool"], "length": 103, "global_instruction": "Place the orange screwdriver into the black bowl on the table.", "scene_description": "A white work table holds an orange screwdriver, a black bowl, a blue plastic fixture, a marked sheet of paper, and a red emergency stop button on a left metallic panel. A robotic arm is at the upper right, with an office workspace (desks, monitors, chair, door, whiteboard) in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange screwdriver on the table, grasps and lifts the screwdriver, moves it over the black bowl, and releases it to drop into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 13, "tasks": ["place tool"], "length": 164, "global_instruction": "Place the orange-handled screwdriver into the black bowl", "scene_description": "An orange-handled screwdriver, a black bowl, and a blue fixture rest on a white sheet covering a worktable. A red emergency stop button sits on the left side of the table, with office desks, monitors, a chair, and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver on the worktable, grasps it, lifts it, positions it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 14, "tasks": ["place tool"], "length": 111, "global_instruction": "Place the orange-handled screwdriver from the blue holder into the black bowl", "scene_description": "A white table holds a blue holder with an orange-handled screwdriver, and a black bowl to the holder's right. A robotic arm is at the right edge of the view, with an office workspace (desks, monitors, whiteboard, office chair) in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver in the blue holder, grasps it, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 15, "tasks": ["place tool"], "length": 126, "global_instruction": "Pick up the orange-handled screwdriver from its holder and place it into the black bowl.", "scene_description": "A white worktable holds a blue and orange fixture with an orange-handled screwdriver, a black bowl to the fixture's right, and a red emergency stop button on a left-side metal console; the background is an office with desks, monitors, chairs, and a whiteboard.", "global_instruction_dense": "The right robotic arm descends toward the orange-handled screwdriver in the blue fixture, grasps the screwdriver, lifts it, moves it over the adjacent black bowl, then releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 16, "tasks": ["place tool"], "length": 131, "global_instruction": "Place the red T-shaped hex key into the black bowl on the worktable.", "scene_description": "A white worktable holds a red T-shaped hex key, a black round bowl, and a blue fixture with orange base; the background has office desks, monitors, a whiteboard, and an office chair.", "global_instruction_dense": "The right robotic arm moves toward the red T-shaped hex key on the worktable, grasps it with its gripper, lifts and moves it over the black bowl, releases the hex key into the bowl, then moves away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 17, "tasks": ["place tool"], "length": 107, "global_instruction": "Place the orange-handled tool into the black bowl on the worktable.", "scene_description": "A blue work fixture, an orange-handled metal tool, and a small black bowl are placed on a white worktable, with office desks, monitors, and seating in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled tool on the worktable, grasps it with its gripper, lifts the tool, moves it over the black bowl, and releases the tool into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 18, "tasks": ["place tool"], "length": 97, "global_instruction": "Pick up the orange-handled hex key and place it into the black bowl", "scene_description": "A white lab tabletop holds a blue fixture with an orange-handled hex key, a black bowl to the right of the fixture, and a red emergency stop button on the left edge. Office desks with monitors and a whiteboard are in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled hex key on the blue fixture, grasps it, lifts it, moves it over the adjacent black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 19, "tasks": ["place tool"], "length": 82, "global_instruction": "Pick up the orange-handled tool from the blue fixture and place it into the black bowl", "scene_description": "A white lab worktable holds a blue fixture with an orange-handled metal tool, a black bowl sits to the right of the fixture, and a robotic arm is positioned at the right edge of the table with office lab furniture in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled tool inserted in the blue fixture, grasps and pulls the tool out of the fixture, moves it over the black bowl, and releases the tool into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 20, "tasks": ["place tool"], "length": 84, "global_instruction": "Pick up the orange-handled tool and place it into the black bowl", "scene_description": "A white tabletop holds a blue clamping fixture, an orange-handled small tool, and a black bowl, with the tool positioned between the fixture and the bowl. A robotic arm is at the right edge of the frame, and the background is an office workspace with desks, monitors, chairs, and a whiteboard.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled tool on the table, grasps the tool with its gripper, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 21, "tasks": ["place tool"], "length": 93, "global_instruction": "Place the orange-handled screwdriver into the black bowl.", "scene_description": "A blue fixture, an orange-handled screwdriver resting on the fixture, and a black round bowl are placed on a white paper-covered lab table, with office desks, monitors and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver on the blue fixture, grasps it, lifts it, moves it over the black bowl, and releases it onto the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 22, "tasks": ["place tool"], "length": 112, "global_instruction": "Pick the orange-handled tool from the blue fixture and place it into the black bowl", "scene_description": "A white work table holds a blue fixture with an orange-handled tool inserted into it, a black bowl sits to the right of the fixture, and the background is an office with desks, monitors, a chair and a whiteboard.", "global_instruction_dense": "The right robotic arm moves downward toward the orange-handled tool on the blue fixture, grasps the tool, lifts it, moves it over the black bowl, releases the tool into the bowl, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 23, "tasks": ["place tool"], "length": 103, "global_instruction": "Pick the red-handled metal tool from the blue fixture and place it into the black bowl.", "scene_description": "A white worktable holds a blue clamping fixture, a red-handled metal tool secured in the fixture, and a black bowl to the right of the fixture. A robotic arm is positioned at the far upper right of the frame, with an office area of desks, monitors, an office chair and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the red-handled tool held in the blue fixture, grasps the tool, lifts it out of the fixture, moves it over the adjacent black bowl, and releases the tool to drop it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 24, "tasks": ["place tool"], "length": 94, "global_instruction": "Pick up the orange-handled screwdriver and place it into the black bowl", "scene_description": "A blue fixture holding an orange-handled screwdriver, a black bowl, and a red emergency stop button are placed on a white tabletop. Office desks with monitors, an office chair, and a whiteboard are in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver on the blue fixture, grasps the screwdriver, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 25, "tasks": ["place tool"], "length": 116, "global_instruction": "Place the orange-handled screwdriver from the blue holder into the black bowl.", "scene_description": "A white work table holds a blue tool holder with an orange-handled screwdriver inserted inside, a small black bowl next to the holder, and a red emergency stop button at its left edge, with a robotic arm on the table's right, and an office with desks, monitors, a chair, and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver in the blue holder, grasps and lifts the screwdriver, moves it over the adjacent black bowl, then releases the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 26, "tasks": ["place tool"], "length": 100, "global_instruction": "Pick up the orange-handled screwdriver and place it into the black bowl", "scene_description": "A white work table holds a blue stand with an orange-handled screwdriver, a small black bowl next to the stand, and a red emergency stop button on the left edge, with a robotic arm on the right side. Background has office desks, monitors, a grey chair, a white door and a whiteboard.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver in the blue stand, grasps the screwdriver, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 27, "tasks": ["place tool"], "length": 98, "global_instruction": "Pick up the orange-handled screwdriver from the black bowl and place it back into the bowl.", "scene_description": "A black bowl holding an orange-handled screwdriver, a blue work fixture, and a red emergency stop button are arranged on a white worktable, with office desks, monitors, a wheeled chair, and a whiteboard visible in the background.", "global_instruction_dense": "The right robotic arm moves down to the black bowl, grasps the orange-handled screwdriver inside it, lifts the screwdriver briefly, then lowers it back into the bowl and releases it.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 28, "tasks": ["place tool"], "length": 93, "global_instruction": "Pick up the orange-handled screwdriver and place it into the black bowl", "scene_description": "A white worktable holds an orange-handled screwdriver on a blue-orange jig, a black bowl to the right of the jig, and a red emergency stop button on a silver console at the left, with office desks, monitors and a chair in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver on the blue-orange jig, grasps the screwdriver, lifts it, moves it over the adjacent black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 29, "tasks": ["place tool"], "length": 91, "global_instruction": "Pick up the orange-handled screwdriver and place it into the black bowl", "scene_description": "A white tabletop holds a blue fixture with an orange-handled screwdriver inserted in it, a black bowl, with a robotic arm positioned to the right of the table and an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver in the blue fixture, grasps it, lifts it out of the fixture, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 30, "tasks": ["place tool"], "length": 89, "global_instruction": "Pick the orange-handled tool from the blue clamp and place it into the black bowl", "scene_description": "A black bowl and an orange-handled tool secured in a blue clamp are placed on a white worktable, with a robotic arm at the upper right and office lab furnishings in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled tool in the blue clamp, grasps the tool, lifts it out of the clamp, moves it over the black bowl, and releases it to drop into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 31, "tasks": ["place tool"], "length": 91, "global_instruction": "Pick up the orange screwdriver and place it into the black bowl", "scene_description": "A white table holds a black bowl, an orange screwdriver beside the bowl, and a blue metal fixture at the table's front. The right robotic gripper is at the right side of the table, with office desks, monitors, a gray chair, door and whiteboard in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange screwdriver next to the black bowl, grasps the screwdriver, lifts it, moves it over the bowl, then releases it into the black bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 32, "tasks": ["place tool"], "length": 99, "global_instruction": "Pick up the orange-handled screwdriver and place it into the black bowl", "scene_description": "A black bowl, a blue fixture, and an orange-handled screwdriver placed in the fixture are on a white worktable, with an office workspace including desks, monitors and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver in the blue fixture, grasps it, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 33, "tasks": ["place tool"], "length": 112, "global_instruction": "Pick up the orange-headed screwdriver from the blue fixture and place it into the black bowl.", "scene_description": "A blue fixture holding an orange-headed screwdriver and a black bowl are placed on a white table, with office desks, monitors and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-headed screwdriver fixed in the blue fixture, grasps it, lifts it out of the fixture, moves it over the adjacent black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 34, "tasks": ["place tool"], "length": 90, "global_instruction": "Pick up the orange-handled hex key from the blue fixture and place it into the black bowl.", "scene_description": "A white table holds a blue fixture with an orange-handled hex key inserted, and a black bowl to the right of the fixture. The background is an office workspace with desks, monitors, a grey office chair, and a whiteboard.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled hex key inserted in the blue fixture, grasps the key, pulls it out of the fixture, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 35, "tasks": ["place tool"], "length": 106, "global_instruction": "Place the orange-handled hex key from the blue clamp into the black bowl", "scene_description": "A white work table holds a blue clamp with an orange-handled hex key inserted in it, and a black bowl to the right of the clamp, with an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled hex key in the blue clamp, grasps and lifts the hex key, moves it over the black bowl, then releases the hex key into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 36, "tasks": ["place tool"], "length": 120, "global_instruction": "Pick up the red T-handle screwdriver and place it into the black bowl", "scene_description": "A blue and orange base holding a red T-handle screwdriver, a black round bowl, and a white robotic arm are placed on a white work table, with an office workspace (desks, monitors, chairs, whiteboards) in the background.", "global_instruction_dense": "The right robotic arm moves toward the red T-handle screwdriver mounted on the blue and orange base, grasps the screwdriver, lifts it, moves it over the adjacent black bowl, and releases the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 37, "tasks": ["place tool"], "length": 91, "global_instruction": "Pick up the orange-handled T-shaped tool and place it into the black bowl", "scene_description": "An orange-handled T-shaped tool, a blue and orange rectangular fixture, and a black bowl rest on white paper atop a metal worktable, with a lab office area with desks, monitors and a chair in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled T-shaped tool on the worktable, grasps the tool with its gripper, lifts it, moves it over the adjacent black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 38, "tasks": ["place tool"], "length": 120, "global_instruction": "Pick up the red-handled hex key from the fixture and place it into the black bowl.", "scene_description": "A white work table holds a blue-and-orange base fixture, a red-handled hex key inserted into the fixture, and a black round bowl to the right of the fixture, with a robotic arm positioned at the table's right side and an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves toward the red-handled hex key inserted in the blue-and-orange fixture, grasps the hex key, lifts it out of the fixture, moves it over the adjacent black bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 39, "tasks": ["place tool"], "length": 134, "global_instruction": "Place the orange-handled pin tool from its blue base into the black bowl", "scene_description": "A white tabletop holds a blue tool base with an orange lower edge, an orange-handled pin tool inserted into the base, and a black bowl to the right of the base, with an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled pin tool in the blue base, grasps the tool, lifts it out of the base, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 40, "tasks": ["place tool"], "length": 102, "global_instruction": "Remove the orange-handled screwdriver from its holding fixture and place it into the black bowl.", "scene_description": "A white table in an office workspace holds a blue-and-orange holding fixture with an orange-handled screwdriver inserted into it, and a black bowl sits to the right of the fixture.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver in the blue-and-orange fixture, grasps the screwdriver, pulls it out of the fixture, moves it over the adjacent black bowl, and releases it to place it inside the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 41, "tasks": ["place tool"], "length": 97, "global_instruction": "Pick up the orange screwdriver from the fixture and place it into the black bowl", "scene_description": "A blue and orange fixture, an orange-handled screwdriver inserted in the fixture, and a black bowl are placed on a white work table, with office desks and monitors in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange screwdriver inserted in the blue-orange fixture, grasps the screwdriver with its gripper, lifts it, moves it over the adjacent black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 42, "tasks": ["place tool"], "length": 156, "global_instruction": "Pick up the orange T-handle hex key from the fixture and place it into the black bowl", "scene_description": "A white table holds a blue-and-orange fixture, an orange T-handle hex key inserted into the fixture, and a black bowl next to the fixture, with an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange T-handle hex key inserted in the blue-orange table fixture, grasps the hex key, pulls it out of the fixture, moves it over the adjacent black bowl, and releases the hex key into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 43, "tasks": ["place tool"], "length": 129, "global_instruction": "Remove the orange-handled screwdriver from the fixture and place it into the black bowl", "scene_description": "A white table holds a blue-and-orange fixture with an orange-handled screwdriver inserted into it, a black bowl sits next to the fixture, a robotic arm is at the right of the table, with an office background of desks, monitors and a whiteboard.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver inserted in the blue-and-orange fixture, grasps the screwdriver, pulls it out of the fixture, moves it over the adjacent black bowl, and releases it to drop into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 44, "tasks": ["place tool"], "length": 85, "global_instruction": "Pick up the orange-tipped screwdriver and place it into the black bowl", "scene_description": "A white table holds a blue and orange fixture with an orange-tipped screwdriver, a black bowl sits to the right of the fixture, with a robotic arm above the bowl.", "global_instruction_dense": "The right robotic arm moves left from above the bowl toward the orange-tipped screwdriver on the fixture, grasps the screwdriver, lifts it, moves right over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 45, "tasks": ["place tool"], "length": 146, "global_instruction": "Place the orange-handled hex key from the fixture into the black bowl", "scene_description": "A blue and orange tool fixture, an orange-handled hex key inserted in the fixture, and a black bowl are placed on a white lab table in an office workspace, with a robotic arm at the upper right background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled hex key in the blue fixture, grasps the hex key, lifts it, moves it over the adjacent black bowl, and releases the hex key into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 46, "tasks": ["place tool"], "length": 125, "global_instruction": "Place the orange hex key from the fixture into the black bowl", "scene_description": "A white worktable holds a blue and orange fixture with an orange T-shaped hex key secured to it, and a black bowl is positioned to the right of the fixture, with an office background of desks, monitors and chairs.", "global_instruction_dense": "The right robotic gripper moves toward the orange hex key mounted on the blue-orange fixture, grasps the hex key, lifts it out of the fixture, moves it right over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 47, "tasks": ["place tool"], "length": 288, "global_instruction": "Place the orange T-handle hex key from the fixture into the black bowl.", "scene_description": "A white table in a lab office holds a blue-and-orange fixture, an orange T-handle hex key inserted in the fixture, and a black bowl to the right of the fixture, with desks, monitors, and chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange T-handle hex key on the blue-and-orange fixture, grasps the hex key, lifts it out of the fixture, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 48, "tasks": ["place tool"], "length": 145, "global_instruction": "Pick the red-handled hex key from the fixture and place it into the black bowl.", "scene_description": "A white tabletop holds a blue and orange fixture with a red-handled hex key, a black bowl sits to the right of the fixture, with office desks and monitors in the background.", "global_instruction_dense": "The right robotic arm moves toward the red-handled hex key on the blue fixture, grasps the hex key, lifts it from the fixture, moves it rightward over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 49, "tasks": ["place tool"], "length": 112, "global_instruction": "Place the orange-handled screwdriver into the black bowl on the table.", "scene_description": "A white work table holds a blue clamping device with orange trim, an orange-handled screwdriver on the device, and a black round bowl to the right of the device, with an office lab background with desks and monitors.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver on the blue clamping device, grasps it, lifts it, moves right over the black bowl, and releases the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 50, "tasks": ["place tool"], "length": 118, "global_instruction": "Take the orange-handled screwdriver out of the blue clamp and place it into the black bowl", "scene_description": "A blue clamp holding an orange-handled screwdriver and a black bowl rest on a white paper-covered worktable, with the clamp positioned left of the bowl, and a lab office space with desks, monitors and chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue clamp on the worktable, grasps the orange-handled screwdriver fixed in the clamp, lifts the screwdriver out of the clamp, moves it right over the black bowl, releases the screwdriver into the bowl, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 51, "tasks": ["place tool"], "length": 114, "global_instruction": "Place the orange-handled tool from the blue fixture into the black bowl", "scene_description": "A blue fixture holding an orange-handled metal tool and a black round bowl rest on a white work table, with the fixture positioned left of the bowl. The background is an office workspace with desks, monitors, chairs, and a whiteboard.", "global_instruction_dense": "The right robotic arm moves down toward the orange-handled tool in the blue fixture, grasps the tool, lifts it out of the fixture, moves it over the adjacent black bowl, releases the tool into the bowl, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 52, "tasks": ["place tool"], "length": 122, "global_instruction": "Pick up the orange-handled tool from the blue fixture and place it into the black bowl", "scene_description": "A white table with a spread white sheet holds a blue fixture with an orange-handled tool, a black bowl to the right of the fixture, in an office with desks and monitors in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange-handled tool in the blue fixture, grasps the tool, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 53, "tasks": ["place tool"], "length": 113, "global_instruction": "Remove the orange-handled tool from the blue jig and place it into the black bowl", "scene_description": "A white tabletop holds a blue clamping jig with an orange-handled tool secured in it, and a black bowl sits to the right of the jig, with office desks and monitors in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue jig, grasps the orange-handled tool inside it, lifts the tool out of the jig, moves the tool over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 54, "tasks": ["place tool"], "length": 84, "global_instruction": "Remove the orange T-handle tool from the blue fixture and place it into the black bowl.", "scene_description": "On a white tabletop, a blue fixture with an inserted orange T-handle tool sits next to a black bowl, with an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange T-handle tool in the blue fixture, grasps the tool, pulls it out of the fixture, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 55, "tasks": ["place tool"], "length": 381, "global_instruction": "Move the orange-handled screwdriver from the blue fixture to the black bowl, then insert it back into the blue fixture.", "scene_description": "A blue work fixture, an orange-handled screwdriver placed in the fixture, and a black round bowl are on a white worktable; the bowl is to the right of the fixture, with a robotic arm partially visible at the right edge.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver in the blue work fixture, grasps and pulls the screwdriver out of the fixture, moves it over the adjacent black bowl and releases it into the bowl, then re-grasps the screwdriver from the bowl, lifts it, moves it back to the blue fixture, and inserts it into the fixture.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 56, "tasks": ["place tool"], "length": 121, "global_instruction": "Pick up the orange-handled screwdriver from the blue fixture and place it into the black bowl.", "scene_description": "A white tabletop holds a blue fixture with an inserted orange-handled screwdriver, and a black bowl sits to the right of the fixture. The background is an office with desks, monitors, and office chairs.", "global_instruction_dense": "Right robotic arm moves toward the orange-handled screwdriver in the blue fixture, grasps it, lifts it out of the fixture, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 57, "tasks": ["place tool"], "length": 100, "global_instruction": "Pick the orange-handled tool from the blue fixture and place it into the black bowl.", "scene_description": "On a white tabletop, a blue clamping fixture holds an orange-handled tool, a black bowl sits to the right of the fixture, with office desks and monitors in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled tool held in the blue clamping fixture, grasps the tool, lifts it out of the fixture, moves it over the black bowl, and places the tool into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 58, "tasks": ["place tool"], "length": 102, "global_instruction": "Pick the orange-handled screwdriver from the blue fixture and place it into the black bowl", "scene_description": "A white worktable holds a blue clamping fixture with an orange-handled screwdriver secured in it, a round black bowl sits to the right of the fixture, and a collaborative robotic arm is positioned at the upper right above the table, with an office lab space including desks, monitors and chairs in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange-handled screwdriver in the blue fixture, grasps the screwdriver, lifts it, moves it over the black bowl to its right, then releases the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 59, "tasks": ["place tool"], "length": 94, "global_instruction": "Place the red T-shaped hex key into the black bowl", "scene_description": "A white table holds a blue-and-orange fixture, a red T-shaped hex key resting on the fixture, and a black bowl to the right of the fixture, with an office workspace including desks, monitors and chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the red T-shaped hex key on the blue-orange fixture, grasps the hex key, lifts it, moves it over the adjacent black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 60, "tasks": ["place tool"], "length": 109, "global_instruction": "Pick up the orange T-handle hex key from the fixture and place it into the black bowl", "scene_description": "A white tabletop holds a blue-orange fixture with an orange T-handle hex key inserted, and a black bowl to the right of the fixture, in an office with desks and monitors in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange hex key in the blue-orange fixture, grasps the key, lifts it out of the fixture, moves it over the black bowl, and places it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 61, "tasks": ["place tool"], "length": 88, "global_instruction": "Pick up the orange-handled screwdriver from the tool holder and place it into the black bowl.", "scene_description": "A white worktable holds a blue-and-orange tool holder, an orange-handled screwdriver inserted in the holder, and a black bowl to the right of the holder, with an office workspace in the background.", "global_instruction_dense": "Right robotic arm moves toward the orange-handled screwdriver in the blue holder, grasps the screwdriver, lifts it out of the holder, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 62, "tasks": ["place tool"], "length": 80, "global_instruction": "Place the orange-handled screwdriver from the tool holder into the black bowl", "scene_description": "A blue and orange tool holder holding an orange-handled screwdriver and a black bowl are placed on a white tabletop in an office, with the bowl to the right of the tool holder.", "global_instruction_dense": "The right robotic gripper moves down toward the orange-handled screwdriver in the tool holder, grasps the screwdriver, lifts it out of the holder, moves it right over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 63, "tasks": ["place tool"], "length": 159, "global_instruction": "Place the orange-handled screwdriver into the black bowl", "scene_description": "A white table holds a blue and orange tool stand, an orange-handled screwdriver resting on the tool stand, and a black bowl to the right of the tool stand, in an office background with desks and monitors.", "global_instruction_dense": "Right robotic arm moves toward the orange-handled screwdriver on the tool stand, grasps it, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 64, "tasks": ["place tool"], "length": 76, "global_instruction": "Pick up the red-handled screwdriver and place it into the black bowl", "scene_description": "A white table holds a blue tool with an orange base, a red-handled screwdriver, and a black bowl, in an office with desks, monitors and chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the red-handled screwdriver on the table, grasps it, lifts it, moves it over the black bowl, and places it inside the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 65, "tasks": ["place tool"], "length": 89, "global_instruction": "Pick up the red T-handle hex key from the blue fixture and place it into the black bowl.", "scene_description": "A white table holds a blue-and-orange fixture with a red T-handle hex key inserted in it, and a black bowl to the right of the fixture, in an office workspace with desks and monitors in the background.", "global_instruction_dense": "The right robotic arm moves toward the red T-handle hex key inserted in the blue-and-orange fixture, grasps the hex key, lifts it, moves it over the black bowl, and places it inside the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 66, "tasks": ["place tool"], "length": 87, "global_instruction": "Pick up the orange-handled tool and place it into the black bowl.", "scene_description": "In an office environment, a white table holds an orange-handled tool, a black bowl, and a blue tool with an orange base, with office desks, monitors, and a gray chair in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the orange-handled tool on the table, grasps it, lifts it, moves it above the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 67, "tasks": ["place tool"], "length": 85, "global_instruction": "Pick the red T-handled hex key from the clamp and place it into the black bowl.", "scene_description": "A white lab table holds a blue clamp with an orange base securing a red T-handled hex key, and a black bowl to the right of the clamp, with a robotic arm at the table's right edge in an office background with desks and monitors.", "global_instruction_dense": "The right robotic arm moves toward the red T-handled hex key held in the blue clamp, grasps it, pulls it free from the clamp, moves it over the adjacent black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 68, "tasks": ["place tool"], "length": 114, "global_instruction": "Pick the red T-handled hex wrench from the blue jig and place it into the black bowl", "scene_description": "A blue jig holding a red T-handled hex wrench and a black bowl are on a white table, the bowl is positioned to the right of the jig, with office desks, monitors and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the red hex wrench in the blue jig, grasps the wrench, lifts it out of the jig, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 69, "tasks": ["place tool"], "length": 83, "global_instruction": "Pick the red T-handled tool from the clamp fixture and place it into the black bowl.", "scene_description": "A white work table holds a blue and orange clamp fixture with an inserted red T-handled tool, a black bowl sits to the right of the fixture, and office desks with monitors are in the background.", "global_instruction_dense": "The right robotic arm moves toward the red T-handled tool inserted in the blue clamp fixture, grasps the tool, lifts it out of the fixture, moves it right over the black bowl, and places the tool into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 70, "tasks": ["place tool"], "length": 95, "global_instruction": "Place the orange-handled screwdriver from the blue clamp into the black bowl", "scene_description": "A blue clamp with an inserted orange-handled screwdriver and a black bowl are placed on a white tabletop in an office lab, with a robotic arm at the upper right and office desks, monitors in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver in the blue clamp, grasps it, pulls it out of the clamp, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 71, "tasks": ["place tool"], "length": 83, "global_instruction": "Place the orange-handled screwdriver from the blue fixture into the black bowl", "scene_description": "A white worktable holds a blue clamping fixture with an orange-handled screwdriver inserted in it, and a black round bowl to the right of the fixture, with an office workspace (desks, monitors, chair, whiteboard) in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange-handled screwdriver inserted in the blue fixture, grasps the screwdriver, pulls it out of the fixture, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 72, "tasks": ["place tool"], "length": 102, "global_instruction": "Pick the orange T-handle hex key from the blue fixture and place it into the black bowl.", "scene_description": "A blue clamping fixture with an orange T-handle hex key inserted in it and a black bowl sit on a white table, with office desks and monitors in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange T-handle hex key in the blue fixture, grasps the key, lifts it out of the fixture, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 73, "tasks": ["place tool"], "length": 100, "global_instruction": "Pick up the red screwdriver from the fixture and place it into the black bowl", "scene_description": "A blue and orange fixture holding a red screwdriver, and a black bowl are placed on a white worktable in an office, with desks, monitors and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the red screwdriver inserted in the blue-orange fixture, grasps the screwdriver, lifts it out of the fixture, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 74, "tasks": ["place tool"], "length": 93, "global_instruction": "Place the red T-handle hex key into the black bowl.", "scene_description": "A white worktable holds a red T-handle hex key inserted in a blue-and-red fixture, a black bowl to the fixture's right, and scissors in the foreground, with office desks, monitors, and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves down to grasp the red T-handle hex key from the fixture, lifts the key, moves it right over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 75, "tasks": ["place tool"], "length": 87, "global_instruction": "Pick up the orange hex key from the fixture and place it into the black bowl", "scene_description": "A white worktable holds a blue and orange fixture, an orange T-handle hex key on the fixture, a black bowl to the right of the fixture, and scissors below the fixture, with an office space background.", "global_instruction_dense": "The right robotic arm moves toward the orange hex key on the blue fixture, grasps it, lifts it, moves over the black bowl, then releases the hex key into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 76, "tasks": ["place tool"], "length": 94, "global_instruction": "Take the red-handled screwdriver from the fixture and place it into the black bowl.", "scene_description": "A white worktable holds a blue and orange fixture with a red-handled screwdriver inserted in it, a black bowl sits to the right of the fixture, and scissors lie at the lower edge of the table, with an office lab workspace in the background.", "global_instruction_dense": "The right robotic gripper moves toward the red-handled screwdriver inserted in the blue-orange fixture, grasps the screwdriver, lifts it out of the fixture, moves it right over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 77, "tasks": ["place tool"], "length": 92, "global_instruction": "Pick the red T-handle tool from the blue-orange fixture and place it into the black bowl", "scene_description": "A white tabletop holds a blue-and-orange fixture with an inserted red T-handle tool, a black bowl to the fixture's right, and scissors at the table's lower edge. A robotic arm is at the upper right of the frame.", "global_instruction_dense": "The right robotic gripper moves toward the red T-handle tool inserted in the blue-orange fixture, grasps the tool, lifts it out of the fixture, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 78, "tasks": ["place tool"], "length": 89, "global_instruction": "Pick the red-handled screwdriver from the clamp and place it into the black bowl.", "scene_description": "A white work table holds a blue-and-orange clamp with an inserted red-handled screwdriver, a black bowl to the right of the clamp, and scissors at the lower front, with an office workspace with desks, monitors and a whiteboard in the background.", "global_instruction_dense": "The right robotic gripper moves toward the red-handled screwdriver inserted in the blue-and-orange clamp, grasps the screwdriver, pulls it out of the clamp, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 79, "tasks": ["place tool"], "length": 116, "global_instruction": "Pick up the red T-handle hex key from the clamp and place it into the black bowl.", "scene_description": "A white tabletop holds a blue-orange clamp with an inserted red T-handle hex key, a black round bowl to the right of the clamp, orange-handled scissors at the table lower edge, and a robotic arm at the upper right, with an office workspace (desks, monitors, whiteboard, chair) in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the red T-handle hex key inserted in the clamp, grasps the hex key, lifts it out of the clamp, moves it rightward over the black bowl, then lowers it and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 80, "tasks": ["place tool"], "length": 112, "global_instruction": "Pick the red-handled hex key from the blue fixture and place it into the black bowl", "scene_description": "A white worktable holds a blue-orange fixture with a red-handled hex key, a black bowl to the right of the fixture, and partial scissors on the table edge. The background is an office with desks, monitors, a chair, a door, and a whiteboard.", "global_instruction_dense": "The right robotic arm moves into the frame, lowers toward the red-handled hex key on the blue fixture, grasps it, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 81, "tasks": ["place tool"], "length": 103, "global_instruction": "Pick up the red T-handle tool from the blue fixture and place it into the black bowl.", "scene_description": "A blue and orange fixture with an inserted red T-handle tool, a black oval bowl, and scissors are placed on a white worktable, with an office area of desks, monitors and chairs in the background.", "global_instruction_dense": "The right robotic gripper moves toward the red T-handle tool inserted in the blue fixture, grasps and pulls the tool out of the fixture, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 82, "tasks": ["place tool"], "length": 114, "global_instruction": "Pick up the orange-handled screwdriver and place it into the black bowl.", "scene_description": "A white table holds a blue clamping tool, an orange-handled screwdriver, a black oval bowl, and a pair of scissors, with an office space of desks, monitors and an office chair in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver on the white table, grasps it, lifts it, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 83, "tasks": ["place tool"], "length": 85, "global_instruction": "Take the orange-handled T-shaped tool from the blue fixture and place it into the black bowl", "scene_description": "A white tabletop holds a blue fixture with an inserted orange-handled T-shaped tool, and a black bowl sits to the right of the fixture. A robotic arm is positioned at the right edge of the table, with an office lab space in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled T-shaped tool inserted in the blue fixture, grasps the tool, pulls it out of the fixture, moves it right over the black bowl, lowers it into the bowl, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 84, "tasks": ["place tool"], "length": 133, "global_instruction": "Place the orange-handled screwdriver from the blue holder into the black bowl.", "scene_description": "A blue tool holder with an inserted orange-handled screwdriver, and a black bowl are placed on a white worktable. Office desks with monitors, a gray chair, and a whiteboard are in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver in the blue holder, grasps it, lifts it out of the holder, moves it over the black bowl, lowers it into the bowl, then releases the screwdriver and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 85, "tasks": ["place tool"], "length": 90, "global_instruction": "Pick up the red T-handle screwdriver from the jig and place it into the black bowl", "scene_description": "A white worktable holds a blue and orange jig with an inserted red T-handle screwdriver, a black bowl is to the right of the jig, and a robotic arm is positioned in the upper right, with an office workspace including desks, monitors and a chair in the background.", "global_instruction_dense": "The right robotic gripper moves toward the red T-handle screwdriver in the blue jig, grasps and lifts the screwdriver out of the jig, moves it over the black bowl, then lowers the screwdriver into the black bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 86, "tasks": ["place tool"], "length": 100, "global_instruction": "Pick the orange-handled screwdriver from the fixture and place it into the black bowl.", "scene_description": "A white worktable holds a blue and orange fixture, an orange-handled screwdriver inserted in the fixture, and a black oval bowl to the right of the fixture, in an office workspace with desks and monitors in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver inserted in the blue fixture, grasps the screwdriver to pull it out of the fixture, moves the screwdriver rightward over the black bowl, then releases the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 87, "tasks": ["place tool"], "length": 113, "global_instruction": "Take the orange-handled screwdriver from the blue fixture and place it into the black bowl.", "scene_description": "A white work table holds a blue metal fixture with an orange-handled screwdriver inserted in it, and a black round bowl to the right of the fixture, with office desks and monitors in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange-handled screwdriver in the blue fixture, grasps it, lifts it out of the fixture, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 88, "tasks": ["place tool"], "length": 85, "global_instruction": "Place the orange-handled screwdriver from the blue fixture into the black bowl.", "scene_description": "A white table holds a black bowl, a blue fixture with an orange-handled screwdriver inserted in it, and a robotic arm is positioned at the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver in the blue fixture, grasps and pulls it out of the fixture, then moves it over the black bowl and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 89, "tasks": ["place tool"], "length": 103, "global_instruction": "Take the orange-handled screwdriver from the blue fixture and place it into the black bowl.", "scene_description": "A white work table holds a blue clamp fixture, an orange-handled screwdriver in the fixture, and a black round bowl in front of the fixture, with office desks and chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue fixture, grasps the orange-handled screwdriver inside it, pulls the screwdriver out, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 90, "tasks": ["place tool"], "length": 89, "global_instruction": "Take the orange-handled screwdriver from the blue clamp and place it into the black bowl", "scene_description": "A white worktable holds a blue clamp fixture with an orange-handled screwdriver inserted in it, a black bowl sits in front of the clamp, and a robotic arm is positioned at the right side of the table, with office desks, monitors and chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver in the blue clamp on the worktable, grasps the screwdriver, pulls it out of the clamp, moves it over the black bowl, and lowers it toward the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 91, "tasks": ["place tool"], "length": 94, "global_instruction": "Pick the orange-handled tool from the blue fixture and place it onto the black circular object on the worktable.", "scene_description": "A metallic worktable is in the foreground, with a white paper sheet laid on its surface. A blue fixture sits on the paper with an orange-handled metal tool resting on the fixture, a black circular object is on the lower part of the paper, and an office area with desks, monitors, chairs and a whiteboard is in the background.", "global_instruction_dense": "The right robotic arm moves down toward the orange-handled tool resting on the blue fixture, grasps the tool, lifts it, moves it over the black circular object on the white paper, and lowers it to place the tool onto the black object.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 92, "tasks": ["place tool"], "length": 242, "global_instruction": "Take the orange-handled screwdriver out of the blue fixture and place it onto the black circular object.", "scene_description": "A blue fixture with an orange-handled screwdriver inserted into it sits on a white paper over a metallic table, a black circular object is on the paper in front of the fixture; the background is an office with desks, monitors, chairs and a whiteboard.", "global_instruction_dense": "The right robotic arm moves into view from the right side of the frame, approaches the orange-handled screwdriver in the blue fixture, grasps it, lifts it out of the fixture, moves it over the black circular object on the white paper, lowers it, and releases it onto the black circular object.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 93, "tasks": ["place tool"], "length": 101, "global_instruction": "Remove the orange-handled screwdriver from the blue fixture and place it on the white worktable.", "scene_description": "A blue fixture holding an orange-handled screwdriver rests on a white worktable, a robotic arm is at the right edge of the frame, and office desks with monitors, a chair, and a whiteboard are in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver inserted in the blue worktable fixture, grasps the screwdriver, pulls it out of the fixture, and moves it down toward the worktable surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 94, "tasks": ["place tool"], "length": 89, "global_instruction": "Pick up the orange-handled screwdriver and place it into the black bowl.", "scene_description": "A white worktable covered with a white sheet holds a black round bowl and an orange-handled screwdriver placed on a blue and orange holder; a robotic arm is at the upper right, with an office workspace of desks, monitors, chair and door in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver on the blue-orange holder, grasps the screwdriver, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 95, "tasks": ["place tool"], "length": 97, "global_instruction": "Take the orange screwdriver out of the holder and place it into the black bowl.", "scene_description": "A black bowl, a blue and orange holder with an orange screwdriver inserted in it are placed on a white sheet on a tabletop, with a robotic arm positioned above the table and office desks with monitors in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange screwdriver in the blue-orange holder, grasps it, lifts it out of the holder, moves it over the black bowl, then releases it to drop the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 96, "tasks": ["place tool"], "length": 90, "global_instruction": "Place the orange screwdriver from the holder into the black bowl.", "scene_description": "A black round bowl, a blue-orange holder with an orange screwdriver inserted are placed on a white paper-covered table, with an office workspace including desks, monitors and a chair in the background, and a robotic arm is at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the orange screwdriver in the blue-orange holder, grasps the screwdriver, pulls it out of the holder, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 97, "tasks": ["place tool"], "length": 113, "global_instruction": "Place the orange-handled screwdriver from the hole punch into the black bowl", "scene_description": "A tabletop holds a black round bowl, a blue and orange hole punch device, and an orange-handled screwdriver resting on the hole punch, with office equipment including monitors in the background.", "global_instruction_dense": "The right robotic arm moves into the frame from the upper right, approaches the orange-handled screwdriver on the blue and orange hole punch, grasps the screwdriver, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 98, "tasks": ["place tool"], "length": 81, "global_instruction": "Place the orange-handled screwdriver from the blue holder into the black bowl", "scene_description": "An orange-handled screwdriver sits in a blue and orange holder next to a black round bowl, all placed on white paper on an office desk, with office furniture including desks with monitors, a gray chair, a door, and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver in the blue and orange holder, grasps the screwdriver, lifts it out of the holder, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 99, "tasks": ["place tool"], "length": 90, "global_instruction": "Place the orange-handled screwdriver from its stand into the black bowl", "scene_description": "A black round bowl and a blue-and-orange stand holding an orange-handled screwdriver are placed on a white work table, with an office space of desks, monitors and chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver in the blue-and-orange stand, grasps the screwdriver, lifts it out of the stand, moves it over the black bowl, and lowers it to release it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 100, "tasks": ["place tool"], "length": 76, "global_instruction": "Pick up the orange-handled screwdriver and place its tip into the black bowl.", "scene_description": "A black bowl and a blue holder with an orange-handled screwdriver rest on white paper atop a metallic tabletop, with an office space containing desks, monitors, and chairs in the background, and a robotic arm at the top right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver placed on the blue holder, grasps the screwdriver, lifts it, moves it over the black bowl, and lowers its tip into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 101, "tasks": ["place tool"], "length": 79, "global_instruction": "Place the orange-handled tool into the black bowl on the table", "scene_description": "A white table holds a black bowl and a blue mount with an orange-handled tool, in an office space with desks, computer monitors, a whiteboard and office chairs in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange-handled tool fixed on the blue mount, grasps the tool, lifts it up, moves it over the black bowl, and places it inside the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 102, "tasks": ["place tool"], "length": 80, "global_instruction": "Pick up the blue tool with an orange handle and place it into the black bowl", "scene_description": "A black bowl and a blue tool with an orange handle are placed on a white paper sheet on a metal worktable, a robotic arm is positioned at the right of the table, with office desks, monitors, a chair and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue tool with an orange handle on the white paper, grasps the tool, lifts it, and moves it over the black bowl for placement.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 103, "tasks": ["place tool"], "length": 98, "global_instruction": "Pick up the orange-handled tool from the blue clamp and place it into the black bowl", "scene_description": "A black bowl and a blue clamp with an orange-handled tool are placed on a white tabletop. The bowl is left of the clamp, and an office workspace with desks, monitors, and chairs is in the background, with a robotic arm at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves down to the blue clamp, grasps the orange-handled tool, lifts it out of the clamp, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 104, "tasks": ["place tool"], "length": 94, "global_instruction": "Place the orange-handled screwdriver from the blue holder into the black bowl.", "scene_description": "A black bowl and a blue holder holding an orange-handled screwdriver are placed on white paper atop a metal worktable, with an office workspace of desks and monitors in the background.", "global_instruction_dense": "The right robotic gripper grasps the orange-handled screwdriver from the blue holder, lifts it, moves it over the black bowl, and releases the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 105, "tasks": ["place tool"], "length": 108, "global_instruction": "Place the orange-handled screwdriver from the blue holder into the black bowl", "scene_description": "A white tabletop holds a large white sheet, with a black bowl left of a blue holder that contains an orange-handled screwdriver, office desks and monitors are in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver in the blue holder, grasps it, lifts it out of the holder, moves it over the black bowl, lowers it into the bowl, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 106, "tasks": ["place tool"], "length": 80, "global_instruction": "Take the orange-handled screwdriver from the blue clamp and place it into the black bowl", "scene_description": "A black bowl and a blue clamp holding an orange-handled screwdriver are placed on a white work table, with an office workspace including desks, monitors, and chairs in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange-handled screwdriver held in the blue clamp on the white table, grasps and pulls the screwdriver out of the clamp, moves it over the adjacent black bowl, and drops it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 107, "tasks": ["place tool"], "length": 109, "global_instruction": "Pick up the orange-handled screwdriver from the blue fixture and place it into the black bowl.", "scene_description": "A black bowl and a blue fixture holding an orange-handled screwdriver are placed on a white worktable, with an office workspace with desks, monitors and chairs in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the orange screwdriver on the blue fixture, grasps it, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 108, "tasks": ["place tool"], "length": 101, "global_instruction": "Pick the orange-handled screwdriver from the blue stand and place it into the black bowl.", "scene_description": "A black bowl, a blue stand holding an orange-handled screwdriver are placed on a white tabletop, with a robotic gripper on the right side of the table.", "global_instruction_dense": "The right robotic gripper moves toward the orange-handled screwdriver in the blue stand, grasps and lifts it out of the stand, moves it over the black bowl, then releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 109, "tasks": ["place tool"], "length": 79, "global_instruction": "Pick up the orange-handled tool from the blue clamp and place it into the black bowl", "scene_description": "A black round bowl and a blue clamp with an orange handle are placed on a white table, the bowl is to the left of the clamp, and a robotic arm is positioned on the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the blue clamp, grasps the orange-handled tool from the clamp, lifts the tool, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 110, "tasks": ["place tool"], "length": 87, "global_instruction": "Pick up the orange-handled tool and place it into the black bowl", "scene_description": "A black bowl and a blue fixture holding an orange-handled tool are placed on a white paper-covered table, with an office space containing desks, monitors, an office chair and a whiteboard in the background, and a robotic arm is positioned at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled tool in the blue fixture, grasps the tool, lifts it out of the fixture, moves it leftward over the black bowl, and lowers it to place the tool inside the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 111, "tasks": ["place tool"], "length": 80, "global_instruction": "Place the red-handled tool into the black bowl on the table.", "scene_description": "A white worktable has a black bowl and a blue fixture with a red-handled tool on it, with a robotic arm at the right and an office workspace with desks, monitors and a chair in the background.", "global_instruction_dense": "The right robotic arm moves toward the red-handled tool on the blue fixture, grasps it, lifts it, moves it over the black bowl, and places the tool into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 112, "tasks": ["place tool"], "length": 121, "global_instruction": "Pick the red-handled tool from the blue jig and place it into the black bowl", "scene_description": "A black bowl and a blue jig holding a red-handled tool rest on white paper atop a metal table, with office desks, monitors, and a whiteboard in the background.", "global_instruction_dense": "The right robotic gripper moves toward the red-handled tool seated in the blue jig, grasps the tool, lifts it out of the jig, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 113, "tasks": ["place tool"], "length": 95, "global_instruction": "Pick up the orange-handled tool from the blue holder and place it into the black bowl.", "scene_description": "A black bowl and a blue holder holding an orange-handled tool rest on white paper spread across an office desk; the background has workstations with monitors, an office chair, and a whiteboard.", "global_instruction_dense": "The right robotic gripper moves toward the blue holder on the white paper, grasps the orange-handled tool inside the holder, lifts the tool, moves it over the adjacent black bowl, and releases the tool into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 114, "tasks": ["place tool"], "length": 124, "global_instruction": "Place the orange-handled tool from its holder into the black bowl.", "scene_description": "A black bowl, a blue and orange holder with an orange-handled tool inside are placed on a white work table, with an office area with desks, monitors and chairs in the background.", "global_instruction_dense": "The right robotic gripper moves into the workspace, grasps the orange-handled tool from the blue and orange holder, lifts it, moves it over the black bowl, lowers it into the bowl, and releases the tool.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 115, "tasks": ["place tool"], "length": 94, "global_instruction": "Pick up the red T-handled punch tool and place it into the black bowl", "scene_description": "A white table holds a black bowl and a blue-orange hole punch with a red T-shaped handle, set in an office with desks, monitors, and chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the red T-handled punch tool on its blue-orange base, grasps the red handle, lifts the tool away from the base, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 116, "tasks": ["place tool"], "length": 91, "global_instruction": "Place the red T-handled tool from the blue-orange fixture into the black bowl", "scene_description": "In an office workspace, a black bowl and a blue-orange fixture holding a red T-handled tool are placed on a white table, with office desks, monitors and chairs in the background.", "global_instruction_dense": "The right robotic gripper approaches the red T-handled tool in the blue-orange fixture, grasps it, lifts it, moves it over the black bowl, and places it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 117, "tasks": ["place tool"], "length": 85, "global_instruction": "Pick up the orange T-handle tool and place it into the black bowl.", "scene_description": "A white table holds a black bowl and an orange T-handle tool resting on a blue and orange fixture, with an office workspace (desks, monitors, chairs, whiteboard) in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange T-handle tool on the blue and orange fixture, grasps it, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 118, "tasks": ["place tool"], "length": 84, "global_instruction": "Place the orange-handled tool from the tool holder into the black bowl", "scene_description": "A black bowl and a blue-and-orange tool holder with an orange-handled tool are placed on a white work table, a robotic arm is positioned above the table, and office desks, monitors and chairs are in the background.", "global_instruction_dense": "The right robotic arm moves down to grasp the orange-handled tool from the tool holder, lifts the tool, moves it over the black bowl, then releases the tool into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 119, "tasks": ["place tool"], "length": 112, "global_instruction": "Place the red screwdriver from the holder into the black bowl", "scene_description": "A white worktable holds a black bowl at its center, and a blue-and-orange holder with a red screwdriver placed to the right of the bowl, in an office workspace with desks and monitors in the background.", "global_instruction_dense": "The right robotic arm moves toward the red screwdriver in the blue-orange holder, grasps the screwdriver, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 120, "tasks": ["place tool"], "length": 95, "global_instruction": "Pick up the orange screwdriver from the holder and place it onto the worktable next to the black bowl.", "scene_description": "A black round bowl, a blue-and-orange holder with an orange screwdriver attached to its top are placed on a white worktable, with office desks, monitors, and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange screwdriver on the blue-and-orange holder, grasps the screwdriver, lifts it, moves it toward the area next to the black bowl, and lowers it onto the worktable.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 121, "tasks": ["place tool"], "length": 102, "global_instruction": "Place the orange-handled screwdriver from the holder into the black bowl", "scene_description": "On a white table, there is a black round bowl and a blue-orange holder with an orange-handled screwdriver inserted, the bowl is to the left of the holder.", "global_instruction_dense": "The right robotic arm moves toward the screwdriver in the holder, grasps and lifts it, moves it over the black bowl, then releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 122, "tasks": ["place tool"], "length": 79, "global_instruction": "Pick up the orange screwdriver from the holder and place it into the black bowl.", "scene_description": "A black bowl, a blue tool holder with an orange base holding an orange screwdriver are placed on a white table, a robotic arm is positioned above the holder.", "global_instruction_dense": "The right robotic gripper grasps the orange screwdriver from the blue-and-orange holder, pulls it out, moves it over the black bowl, then releases it to drop into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 123, "tasks": ["place tool"], "length": 90, "global_instruction": "Pick up the orange screwdriver from the holder and place it into the black bowl.", "scene_description": "A white table holds a black bowl and a blue-orange holder with an inserted orange screwdriver, the bowl is left of the holder, with an office background of desks and monitors.", "global_instruction_dense": "The right robotic arm moves toward the orange screwdriver in the blue-orange holder, grasps and lifts the screwdriver, moves it left over the black bowl, and places it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 124, "tasks": ["place tool"], "length": 81, "global_instruction": "Pick the orange-handled tool from the blue fixture and place it into the black bowl", "scene_description": "A black round bowl and a blue fixture holding an orange-handled tool are placed on a white table, with an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled tool in the blue fixture, grasps the tool, lifts it, moves it over the black bowl, and places it inside the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 125, "tasks": ["place tool"], "length": 88, "global_instruction": "Take the orange-handled tool from the blue clamp, place it into the black bowl, then move the bowl leftward.", "scene_description": "A white worktable in an office holds a black bowl and a blue clamp with an orange handle, with desks, monitors and office chairs in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange-handled tool on the blue clamp, grasps and extracts it, moves it over the black bowl, places it inside the bowl, then grasps and moves the bowl left on the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 126, "tasks": ["place tool"], "length": 101, "global_instruction": "Pick up the red-handled tool from the blue fixture and place it into the black bowl", "scene_description": "A black bowl and a blue fixture with a red-handled tool on top are placed on a white table, the bowl is to the left of the blue fixture, with an office background containing desks, monitors, and a whiteboard.", "global_instruction_dense": "The right robotic arm moves down to grasp the red-handled tool from the blue fixture, lifts it, moves it over the black bowl, then releases the tool into the black bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 127, "tasks": ["place tool"], "length": 78, "global_instruction": "Place the red T-handle screwdriver from the blue fixture into the black bowl", "scene_description": "A black bowl and a blue fixture holding a red T-handle screwdriver are placed on a white table, with office desks, monitors and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the red T-handle screwdriver on the blue fixture, grasps it, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 128, "tasks": ["place tool"], "length": 80, "global_instruction": "Take the orange-handled tool from the blue clamp and place it into the black bowl", "scene_description": "A black bowl and a blue clamp with an orange T-shaped handle are placed on a white table, the clamp is to the right of the bowl, and a robotic arm is positioned at the top right of the workspace with an office background including desks, monitors, and furniture.", "global_instruction_dense": "The right robotic arm moves toward the orange T-handled tool mounted on the blue clamp, grasps the tool, pulls it out of the clamp, moves it over the black bowl, and places the tool into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 129, "tasks": ["place tool"], "length": 88, "global_instruction": "Place the orange-handled tool from the blue fixture into the black bowl.", "scene_description": "A black bowl and a blue fixture holding an orange-handled tool are placed on a white table, with office desks and monitors in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled tool on the blue fixture, grasps it, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 130, "tasks": ["place tool"], "length": 80, "global_instruction": "Place the orange-handled screwdriver from the blue holder into the black bowl", "scene_description": "A black bowl and a blue clamping holder with an orange-handled screwdriver on it are placed on a white table, with a robotic arm at the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver on the blue holder, grasps the screwdriver, lifts it, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 131, "tasks": ["place tool"], "length": 101, "global_instruction": "Place the orange-handled tool from the blue clamp into the black bowl", "scene_description": "A black round bowl and a blue clamping tool with an orange-handled implement are placed on a white worktable; the bowl is to the left of the clamping tool, and a right robotic gripper is near the clamping tool, with an office lab workspace in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled tool attached to the blue clamp, grasps the tool, lifts it out of the clamp, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 132, "tasks": ["place tool"], "length": 84, "global_instruction": "Pick up the orange-top screwdriver and place it into the black bowl.", "scene_description": "A black bowl and a blue-and-orange base holding an orange-top screwdriver are placed on a white table, with office desks and monitors in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-top screwdriver inserted in the blue-and-orange base, grasps it, lifts it out of the base, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 133, "tasks": ["place tool"], "length": 83, "global_instruction": "Place the orange-handled screwdriver from the blue fixture into the black bowl", "scene_description": "A white table holds a black bowl and a blue fixture with an orange base that holds an orange-handled screwdriver, with an office lab space of desks, monitors and chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver on the blue fixture, grasps it, lifts it, moves it over the black bowl, and places it inside the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 134, "tasks": ["place tool"], "length": 117, "global_instruction": "Place the orange-handled screwdriver from the blue fixture into the black bowl", "scene_description": "A black bowl and a blue fixture with an orange-handled screwdriver inserted into it are placed on a white table, with an office workspace containing desks, monitors and chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue fixture, grasps the orange-handled screwdriver, pulls it out of the fixture, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 135, "tasks": ["place tool"], "length": 117, "global_instruction": "Place the orange-handled slender tool into the black bowl on the table.", "scene_description": "A black bowl and a blue-and-orange fixture are placed on a white table, with an office area including desks, monitors and a chair in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled tool on the blue fixture, grasps it, lifts it, moves it over the black bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 136, "tasks": ["place tool"], "length": 85, "global_instruction": "Place the red-topped screwdriver into the black bowl on the table.", "scene_description": "A white table in an office holds a black bowl, a blue tool with an orange base, and a red-topped screwdriver resting on the blue tool, with office desks, monitors and a chair in the background.", "global_instruction_dense": "The right robotic gripper moves toward the red-topped screwdriver on the blue tool, grasps it, lifts it, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 137, "tasks": ["place tool"], "length": 89, "global_instruction": "Pick the orange-handled tool from the work fixture and place it into the black bowl.", "scene_description": "A black bowl and a blue-orange work fixture are placed on a white table, with an office environment including desks, monitors and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves down from the right side of the frame to grasp the orange-handled tool from the blue fixture, lifts the tool, moves it left over the black bowl, and releases the tool into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 138, "tasks": ["place tool"], "length": 86, "global_instruction": "Pick up the orange-handled screwdriver and place it into the black bowl", "scene_description": "A white tabletop holds a black bowl, a blue clamping fixture, and an orange-handled screwdriver. The background is an office with desks, monitors, chairs, a door, and a whiteboard.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver on the table, grasps it, lifts it, moves it over the black bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 139, "tasks": ["place tool"], "length": 81, "global_instruction": "Pick up the orange-handled screwdriver and place it into the black bowl.", "scene_description": "A white table holds a black bowl, a blue fixture holding an orange-handled screwdriver, with an office area of desks, monitors and chairs in the background.", "global_instruction_dense": "The right robotic arm approaches the orange-handled screwdriver held in the blue fixture, grasps and lifts the screwdriver, then moves it to place it into the black bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 140, "tasks": ["place tool"], "length": 83, "global_instruction": "Place the orange-handled screwdriver from the blue fixture into the black bowl", "scene_description": "A black bowl and a blue fixture holding an orange-handled screwdriver are placed on a white table, with a robotic arm to the right of the table, and office workstations in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver on the blue fixture, grasps and lifts it out of the fixture, moves it over the black bowl, then lowers and places the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 141, "tasks": ["place tool"], "length": 204, "global_instruction": "Reposition the black keys on the middle storage shelf to a new spot on the same shelf.", "scene_description": "A metal storage shelf holds various items: orange plastic containers on the top shelf, a white PLA filament box, yellow-and-black power drill, cables, and a set of black keys on the middle shelf, with a robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic gripper moves toward the black keys on the middle shelf, grasps them, lifts them, repositions them to a new spot on the same shelf, releases them, then retracts back to its starting position to the right of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 142, "tasks": ["place tool"], "length": 138, "global_instruction": "Pick up the small gray two-part object from the middle shelf and reposition it on the same shelf.", "scene_description": "A multi-tier white storage shelf holds assorted tools and equipment: a yellow-and-black power drill, white product boxes, gray label printers, coiled black cables, small loose parts, an orange hard case on the top shelf, and brown cardboard boxes on the bottom shelf, with a white robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves from the right side of the storage shelf toward the middle shelf, grasps the small two-piece gray object resting on the shelf, lifts the object, moves it to a new position over the middle shelf, places it down, and retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 143, "tasks": ["place tool"], "length": 172, "global_instruction": "Move the yellow-black power drill on the storage shelf to a new position on the same shelf.", "scene_description": "A white multi-level metal storage shelf holds items including a white printed box, yellow and black power drill, gray storage containers, coiled cables, and small hardware, with a robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm extends left toward the top of the storage shelf, grasps the yellow-black power drill, lifts it slightly, moves it leftward across the shelf, lowers it, and releases it onto a new spot on the shelf.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 144, "tasks": ["place tool"], "length": 148, "global_instruction": "Relocate a small black tool on the upper level of the storage shelf.", "scene_description": "A white metal storage shelf holds items including a white printed box, yellow-black power drill, gray storage bins, cables, and small tools, with a white robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the upper storage shelf, grasps a small black tool, lifts and moves it above the shelf, then lowers and places it back onto the shelf surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 145, "tasks": ["place tool"], "length": 290, "global_instruction": "Pick the black and yellow screwdriver from the tabletop and place it into the drawer under the table.", "scene_description": "A black screwdriver with yellow accents is placed on the right side of a light wooden worktable. A black curtain hangs to the left of the table, a gray curved reflector stands behind the table, and dark cables lie on the gray carpeted floor near the curtain.", "global_instruction_dense": "The right robotic gripper moves to the screwdriver on the right of the wooden table, grasps it, lifts it away from the table, lowers it into the open drawer beneath the table, then closes the drawer to store the screwdriver.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 146, "tasks": ["place tool"], "length": 225, "global_instruction": "Pick up the black and yellow screwdriver from the cabinet top, place it into the open drawer, then close the drawer.", "scene_description": "A tool cabinet with a light wooden worktop has a black screwdriver with yellow accents on its top. The cabinet's open top drawer is filled with various tools like scissors and pliers, with office equipment and a carpeted floor in the background.", "global_instruction_dense": "The right robotic gripper moves to the black and yellow screwdriver on the tool cabinet top, grasps it, moves it into the open top drawer and releases it, then pushes the drawer fully closed before moving away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 147, "tasks": ["place tool"], "length": 168, "global_instruction": "Place the black and yellow screwdriver from the cabinet worktop into the open top tool drawer, then close the drawer.", "scene_description": "A grey tool cabinet with a light wooden worktop rests on a striped grey floor. A black screwdriver with a yellow circular end sits on the worktop, the open top drawer holds assorted tools, and a black backdrop with loose cables is to the left of the cabinet.", "global_instruction_dense": "The right robotic gripper moves toward the black and yellow screwdriver on the tool cabinet worktop, grasps it, lowers it into the open top drawer, releases the screwdriver, pushes the drawer fully closed, then moves away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 148, "tasks": ["place tool"], "length": 141, "global_instruction": "Pick up the black screwdriver from the workbench, place it into the open drawer, then close the drawer.", "scene_description": "A gray workbench with a light wooden top is in a workshop area. A curved black foam piece sits on cardboard on the left of the workbench surface, a black screwdriver is on the right of the workbench surface, the top drawer of the workbench is open holding assorted tools, a large black tool cabinet is in the background, and VR accessories are visible on the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the black screwdriver on the workbench, grasps and lifts it, lowers it into the open workbench drawer, releases the screwdriver, then pushes the drawer fully closed.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 149, "tasks": ["place tool"], "length": 178, "global_instruction": "Place the yellow-and-black screwdriver on the worktop into the open drawer, then close the drawer.", "scene_description": "A metal tool cabinet with a light wooden worktop is at the center. A black curved block rests on cardboard on the left of the worktop, a yellow and black screwdriver sits on the right of the worktop, the top drawer of the cabinet is open and filled with assorted tools, and a white robotic arm is positioned at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the yellow-and-black screwdriver on the worktop, grasps it, moves it over the open drawer, releases it into the drawer, then pushes the drawer fully closed.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 150, "tasks": ["place tool"], "length": 130, "global_instruction": "Place the screwdriver on the tool cabinet top into the open drawer then close the drawer.", "scene_description": "A metal tool cabinet with a light wooden top sits in an office space, one drawer is open holding assorted tools, a small black screwdriver rests on the cabinet top, office chairs and desks with monitors are in the background.", "global_instruction_dense": "The right robotic arm moves toward the screwdriver on the tool cabinet top, grasps it, lifts it, places it into the open tool drawer, releases it, then pushes the drawer fully closed.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 151, "tasks": ["place tool"], "length": 158, "global_instruction": "Place the short black and yellow screwdriver from the workbench into the open tool drawer then close the drawer.", "scene_description": "A workbench with a light wooden top and metal frame is in the center, a short black and yellow screwdriver rests on its surface, the lower tool drawer of the workbench is open holding various hand tools, with office chairs and desks with monitors in the background.", "global_instruction_dense": "The right robotic arm moves toward the black and yellow screwdriver on the workbench, grasps it, lifts it, moves it over the open tool drawer, releases it inside, then pushes the drawer fully closed before moving away from the workbench.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 152, "tasks": ["place tool"], "length": 125, "global_instruction": "Place the black screwdriver on the tool cabinet top into the open tool drawer, then close the drawer.", "scene_description": "A gray metal tool cabinet with a light wooden top sits in an office workspace. A black screwdriver with a yellow accent rests on the cabinet top, and an open drawer below is filled with various tools. Office chairs and desks with monitors are visible in the background.", "global_instruction_dense": "The right robotic gripper moves toward the black screwdriver on the tool cabinet top, grasps it, moves it into the open tool drawer, releases it, then pushes the drawer fully closed.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 153, "tasks": ["place tool"], "length": 156, "global_instruction": "Place the black and yellow tool on the workbench into the open tool drawer, then close the drawer.", "scene_description": "A metal workbench with a light wooden top sits in an office workspace, an extended open drawer filled with assorted tools is attached to the workbench, a small black tool with a yellow circular end rests on the workbench surface, a gray office chair is to the left of the workbench, and desks with monitors are in the background.", "global_instruction_dense": "The right robotic gripper moves toward the black and yellow tool on the workbench, grasps the tool, lowers it into the open tool drawer, releases the tool, pushes the drawer fully closed, then moves away from the workbench.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 154, "tasks": ["place tool"], "length": 173, "global_instruction": "Place the black-handled screwdriver from the tool cabinet top into the open drawer, then close the drawer.", "scene_description": "A silver tool cabinet with a light wood top sits in an office, a black-handled screwdriver rests on the cabinet top, the cabinet's top drawer is open with assorted tools inside, a grey office chair is to the left of the cabinet, and desks with monitors are in the background.", "global_instruction_dense": "The right robotic gripper moves toward the black-handled screwdriver on the tool cabinet top, grasps the screwdriver, moves it into the open top drawer and releases it, then pushes the drawer fully closed.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 155, "tasks": ["place tool"], "length": 161, "global_instruction": "Place the black-and-yellow screwdriver from the workbench into the open drawer then close the drawer.", "scene_description": "A metal workbench with a light wooden top sits in an office space, its top drawer is open holding assorted tools, a black screwdriver with a yellow end rests on the workbench surface, a grey office chair is to the left of the workbench, and computer monitors are visible on a desk in the background.", "global_instruction_dense": "The right robotic gripper moves toward the black-and-yellow screwdriver on the workbench surface, grasps it, lowers it into the open top drawer of the workbench, releases the screwdriver, then pushes the drawer fully closed and moves away from the workbench.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 156, "tasks": ["place tool"], "length": 153, "global_instruction": "Pick up the red-handled screwdriver from the fixture and place it into the large light blue cup.", "scene_description": "An office workspace features a black cabinet holding a blue-orange fixture with a red-handled screwdriver inserted, plus a large light blue cup next to the fixture. Behind the cabinet is a wooden desk with a small light blue cup, stacked 3D filament spools, and office supplies. A framed portrait hangs on the wall below a marked whiteboard, and a robotic arm is positioned at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the red-handled screwdriver in the blue-orange fixture on the black cabinet, grasps the screwdriver, lifts it, moves it over the adjacent large light blue cup, and releases the screwdriver to drop it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 157, "tasks": ["place tool"], "length": 124, "global_instruction": "Place the orange-handled screwdriver from the blue block into the tall blue cup", "scene_description": "An office workspace with a whiteboard covered in notes on the wall, a framed portrait below the whiteboard, and a multi-tiered filament spool holder next to the portrait. A wooden desk with small items including a tiny light blue cup sits against the wall, a black cabinet in the foreground holds a blue block with an inserted orange-handled screwdriver and a tall blue cup. Office equipment like hard cases and a small white device rest on the floor left of the desk, with more desks with computers in the background.", "global_instruction_dense": "The right robotic arm moves down toward the orange-handled screwdriver inserted in the blue block on the black cabinet, grasps the screwdriver, lifts it, moves it over the tall blue cup, lowers it into the cup, releases the screwdriver, then moves upward away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 158, "tasks": ["place tool"], "length": 122, "global_instruction": "Pick the screwdriver from the blue vise on the black table and place it on the wooden desk", "scene_description": "An office workspace with a whiteboard on the wall, a framed portrait below the whiteboard, a filament spool holder next to the portrait, a wooden desk with small items, a black table holding a blue-orange vise and tall blue cup in front of the wooden desk, and a robotic arm at the upper right. Black equipment cases and a white air purifier sit on the left floor.", "global_instruction_dense": "The right robotic arm moves downward toward the screwdriver in the blue vise on the black table, grasps the screwdriver, lifts it out of the vise, moves it over the adjacent wooden desk, releases the screwdriver onto the desk, then moves upward away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 159, "tasks": ["place tool"], "length": 103, "global_instruction": "Pick up the orange-handled tool from the wooden table and place it into the blue cup on the black cabinet.", "scene_description": "An office work area: a white writing whiteboard is on the wall, a framed portrait sits below the whiteboard, a multi-tier 3D filament spool rack is next to the portrait, a wooden table with assorted small items and an orange-handled tool is to the right of the spool rack, a black cabinet in front of the table holds a blue cup on a blue-orange stand, and a white robotic arm is at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the orange-handled tool on the wooden table, grasps the tool, lifts it, moves it over the blue cup on the black cabinet, then lowers and releases the tool into the blue cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 160, "tasks": ["place tool"], "length": 115, "global_instruction": "Place the red-handled screwdriver from the holder into the blue cup", "scene_description": "A white robotic arm is positioned above a black worktable. On the worktable are a blue-and-orange holder with a red-handled screwdriver inside, and a blue cup. Behind the table is a wooden desk with small items, a 3D filament spool holder, a framed photo below a marked whiteboard, with office chairs and monitors in the background, plus a black hard case, white air purifier and small grey device on the floor near the wall.", "global_instruction_dense": "The right robotic arm moves down toward the red-handled screwdriver in the blue-and-orange holder, grasps the screwdriver, lifts it, moves it over the blue cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 161, "tasks": ["place tool"], "length": 118, "global_instruction": "Pick up the red-handled screwdriver from the organizer and place it on the rear wooden desk.", "scene_description": "A black table holds a blue-and-orange organizer, a blue cup, and a red-handled screwdriver protruding from the organizer. Behind the black table is a wooden desk with a small light blue cup, miscellaneous supplies, and a multi-tier 3D filament spool holder against the wall. A framed photo hangs on the wall below a marked whiteboard, and black and white equipment cases sit on the floor left of the desk, with a robotic arm positioned to the right of the black table.", "global_instruction_dense": "The right robotic arm moves toward the red-handled screwdriver in the blue-and-orange organizer on the black table, grasps the screwdriver, lifts it, moves it backward over the wooden desk, lowers it, releases it onto the desk, and moves upward away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 162, "tasks": ["place tool"], "length": 105, "global_instruction": "Pick the orange-handled screwdriver from the blue tool holder and place it into the blue cup on the black desk", "scene_description": "A white robotic arm is positioned above a black work desk, which holds a blue-and-orange tool holder with an orange-handled screwdriver inside and a blue cup to the holder's right. A wooden desk adjacent to the black desk holds small items including a tiny blue cup, stacked 3D printer filament spools stand on the floor next to the wooden desk, a framed portrait hangs on the grey wall below a whiteboard with handwritten notes, and office workstations with computers are in the background.", "global_instruction_dense": "The right robotic arm lowers toward the orange-handled screwdriver in the blue-and-orange holder on the black desk, grasps the screwdriver, lifts it, moves it over the blue cup, inserts the screwdriver into the cup, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 163, "tasks": ["place tool"], "length": 114, "global_instruction": "Pick the red-handled screwdriver from the clamp and place it into the blue cup", "scene_description": "An office workspace with a robotic arm above a black table. A red-handled screwdriver is held in a blue and orange clamp on the table, with a blue cup to the clamp's right. A whiteboard, filament spool holder, office desks, and floor items including a black case and white air purifier are in the background.", "global_instruction_dense": "The right robotic arm moves downward to grasp the red-handled screwdriver in the clamp, lifts the screwdriver out of the clamp, moves it over the blue cup, then releases it into the blue cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 164, "tasks": ["place tool"], "length": 115, "global_instruction": "Place the orange-handled tool from the wooden work desk into the large blue cup on the adjacent black cabinet.", "scene_description": "A whiteboard with handwritten notes is mounted on the wall, with a framed grayscale portrait and stacked 3D printer filament spools below it. A wooden work desk holding small items including a tiny blue cup, tape, and spray bottle sits under the whiteboard, a black cabinet next to the desk has a large blue cup on its top, and a robotic arm is positioned at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled tool on the wooden work desk, grasps the tool, lifts it up, moves it over the large blue cup on the black cabinet, and releases the tool to drop it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 165, "tasks": ["place tool"], "length": 132, "global_instruction": "Pick up the orange-handled screwdriver from the wooden desk and place it into the large blue cup on the black side table", "scene_description": "An office workspace has a wooden work desk, a black side table, and a whiteboard on the wall. The wooden desk holds an orange-handled screwdriver, a small light blue cup and assorted tools; the black side table holds a large blue cup. A framed portrait, multi-tier filament spool holder, black hard case, white air purifier and a right robotic arm are also visible.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver on the wooden desk, grasps it, lifts it, moves it over the large blue cup on the black side table, and inserts it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 166, "tasks": ["place tool"], "length": 224, "global_instruction": "Pick up the orange-handled tool from the wooden desk and place it into the large blue cup on the black cabinet.", "scene_description": "A whiteboard with writing is mounted on a gray wall next to a framed portrait. Below are a wooden work desk and a black cabinet: the desk holds stacked 3D printing spools, a small light blue cup, and an orange-handled tool; the cabinet holds a blue-orange clamp and a large blue cup. A robotic arm is at the top right, with a black case and white air purifier on the left floor, and office desks/chairs in the background.", "global_instruction_dense": "The right robotic arm moves down toward the orange-handled tool on the wooden desk, grasps the tool, lifts it, moves it over the large blue cup on the black cabinet, and releases the tool into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 167, "tasks": ["place tool"], "length": 126, "global_instruction": "Pick up the red screwdriver from the rear wooden desk and place it next to the blue cup on the front black table.", "scene_description": "A black table with a blue cup is in the foreground, a wooden desk with tools including a red screwdriver is behind it, a marked whiteboard, framed portrait and spool holder are on the wall, equipment cases are on the left floor, and a robotic arm is partially visible at the top right.", "global_instruction_dense": "The right robotic arm moves downward toward the red screwdriver on the rear wooden desk, grasps the screwdriver, lifts it, moves it forward over the front black table next to the blue cup, and releases it at that position.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 168, "tasks": ["place tool"], "length": 96, "global_instruction": "Place the red screwdriver into the blue cup on the black foreground table.", "scene_description": "A whiteboard with multicolored writing hangs on the wall, with a framed portrait below it next to a stack of 3D filament spools. A wooden desk holds tools and office items in front of the whiteboard, a black foreground table holds a blue cup and purple blocks, a black hard case and white air purifier sit on the floor left of the desk, and a robotic arm is positioned at the top right with office monitors and chairs in the far background.", "global_instruction_dense": "The right robotic gripper lowers toward the red screwdriver on the wooden desk, grasps it, lifts and moves it above the blue cup on the black table, releases the screwdriver into the cup, then lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 169, "tasks": ["place tool"], "length": 138, "global_instruction": "Pick up the red screwdriver from the wooden desk and place it into the blue cup on the black cabinet.", "scene_description": "An office workspace with a writing-covered whiteboard on the back wall, a framed portrait below the whiteboard, a multi-tier 3D filament spool holder next to a supply-filled wooden desk, a black cabinet with a blue cup on its surface in the foreground, a black hard case and white air purifier on the floor left of the desk, and a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves down toward the red screwdriver on the wooden desk, grasps it, lifts it, moves it over the blue cup on the foreground black cabinet, and releases it into the blue cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 170, "tasks": ["place tool"], "length": 136, "global_instruction": "Pick the red screwdriver from the wooden desk and place it into the blue cup on the black cabinet.", "scene_description": "A blue plastic cup rests on a black foreground cabinet. A wooden desk with assorted supplies including a red screwdriver sits behind the cabinet, a whiteboard with notes is on the wall above the desk, a framed portrait and stacked 3D filament spools are mounted below the whiteboard, and a black hard case and white air purifier sit on the floor near the wall.", "global_instruction_dense": "The right robotic gripper enters the frame from the upper right, descends toward the red screwdriver on the wooden desk, grasps the screwdriver, lifts it, moves it over the blue cup on the black cabinet, lowers the screwdriver into the cup, releases it, then moves upward.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 171, "tasks": ["place tool"], "length": 145, "global_instruction": "Pick up the orange-handled tool from the desk and place it into the blue cup on the black cabinet.", "scene_description": "A light brown wooden desk sits against a whiteboard with handwritten notes, an orange-handled tool rests on the desk, a black cabinet in the foreground holds a blue cup, a filament spool rack, framed photo, black hard case, and white air purifier are near the desk, with office monitors and chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled tool on the wooden desk, grasps it, lifts it, moves it over the blue cup on the foreground black cabinet, and releases the tool into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 172, "tasks": ["place tool"], "length": 145, "global_instruction": "Pick up the red screwdriver from the wooden desk and place it into the blue cup on the black table.", "scene_description": "A black foreground table holds a blue plastic cup, with a robotic arm positioned above the table. Behind it is a wooden desk with assorted tools, a stacked 3D filament spool holder next to a framed black-and-white portrait mounted on a grey wall below a whiteboard marked with notes. A black hard case, white air purifier, and small grey equipment sit on the floor to the left, with office chairs and computer monitors visible in the background workspace.", "global_instruction_dense": "The right robotic arm moves from above the black table toward the rear wooden desk, grasps the red screwdriver with its gripper, lifts the screwdriver, moves it over the blue cup on the foreground black table, lowers it into the cup, releases the screwdriver, then retracts its gripper away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 173, "tasks": ["place tool"], "length": 95, "global_instruction": "Place the orange screwdriver from the wooden desk into the blue cup on the black table.", "scene_description": "A black foreground table holds a blue cup and a blue-orange block assembly. Behind it, a wooden desk has an orange screwdriver, spray bottles, and other items. A marked whiteboard, framed portrait, 3D filament spools, black hard case, white air purifier, office chairs and monitors are in the background, with a robotic arm partially visible at the top right.", "global_instruction_dense": "The right robotic arm descends toward the orange screwdriver on the wooden desk, grasps the screwdriver, lifts it, moves it over the blue cup on the black foreground table, and lowers it to place it inside the blue cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 174, "tasks": ["place tool"], "length": 155, "global_instruction": "Place the red-handled screwdriver into the blue plastic cup on the black table", "scene_description": "A black table holds a blue plastic cup and a blue-orange rectangular fixture with a red-handled screwdriver inside it. A robotic arm is positioned at the right side above the table. Behind the table is a wooden work desk with a tiered 3D filament spool holder, assorted small supplies, a framed portrait mounted on the whiteboard wall behind the desk, and a black hard case plus white air purifier on the floor to the left of the desk.", "global_instruction_dense": "The right robotic arm moves downward to grasp the red-handled screwdriver from the blue-orange fixture on the black table, lifts the screwdriver, moves it over the blue plastic cup, and releases the screwdriver into the cup before retracting slightly.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 175, "tasks": ["place tool"], "length": 142, "global_instruction": "Place the red-handled screwdriver into the blue plastic cup on the black table.", "scene_description": "A black table holds a blue plastic cup, a purple block fixture, and a red-handled screwdriver. A whiteboard with markings, framed photo, 3D filament spools, wooden work desk, and office computers and chairs are visible in the background, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves downward to grasp the red-handled screwdriver from the purple fixture, lifts the screwdriver, moves it over the blue plastic cup, lowers it into the cup, releases the screwdriver, then lifts the empty gripper upward.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 176, "tasks": ["place tool"], "length": 115, "global_instruction": "Pick up the orange-handled tool on the wooden desk and place it into the purple fixture on the black cabinet.", "scene_description": "A black cabinet holding a blue cup and a purple-orange fixture is in the foreground, a wooden desk with office supplies, a filament spool rack, and a framed portrait below a marked whiteboard are in the background, with a robotic arm at the top right edge.", "global_instruction_dense": "The right robotic arm moves down toward the orange-handled tool on the wooden desk, grasps the tool, lifts it, moves it over the purple fixture on the black cabinet, lowers it, and places the tool inside the fixture.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 177, "tasks": ["place tool"], "length": 123, "global_instruction": "Place the red-handled tool from the wooden desk into the blue cup on the black table.", "scene_description": "A black table holds a blue cup and a purple fixture, a wooden desk behind it holds a red-handled tool and assorted work supplies, a tiered 3D filament spool holder stands between the desk and a framed picture on the wall under a marked whiteboard, a large robotic arm is positioned at the right, and black equipment cases plus a white air purifier sit on the left floor.", "global_instruction_dense": "The right robotic arm moves toward the red-handled tool on the wooden desk, grasps it with its gripper, lifts it, moves it over the blue cup on the black table, lowers the tool into the cup, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 178, "tasks": ["place tool"], "length": 118, "global_instruction": "Place the orange-handled tool from the wooden desk into the blue cup on the black table.", "scene_description": "A black table sits in the foreground with a blue cup on its right and stacked blue and orange blocks at its center. Behind it is a wooden desk with various supplies, next to a tiered black 3D filament spool stand against a marked whiteboard and a framed monochrome photo. A black hard case and white air purifier are on the left floor, with part of a robotic arm visible at the upper right.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled tool on the wooden desk, grasps it, lifts and carries it over the blue cup on the black foreground table, then lowers and releases the tool into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 179, "tasks": ["place tool"], "length": 113, "global_instruction": "Pick up the red tool from the rear wooden desk and place it into the light blue cup on the black worktable.", "scene_description": "A black worktable in the foreground holds stacked blue and orange rectangular blocks and a light blue tall cup. Behind the worktable is a wooden desk with assorted small work items, a stacked 3D filament spool stand, a framed portrait hung on the wall under a whiteboard covered in writing, with a black hard case and white portable appliance on the floor to the left, and a robotic arm positioned above the black worktable.", "global_instruction_dense": "The right robotic arm moves from above the black worktable toward the rear wooden desk, grasps the red T-shaped tool, lifts it, moves it over the light blue cup on the black worktable, and lowers it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 180, "tasks": ["place tool"], "length": 142, "global_instruction": "Pick up the red screwdriver from the rear wooden desk and place it into the blue cup on the black table.", "scene_description": "A black table holds stacked blue and orange blocks on the left and a light blue cup on the right. Behind it, a wooden desk holds office supplies and a red-handled screwdriver. A whiteboard with writing, a framed picture, and a 3D filament spool holder are against the wall, with a robotic arm positioned above the black table. A black hard case, white appliance, and small gray device sit on the left floor.", "global_instruction_dense": "The right robotic arm moves toward the red screwdriver on the rear wooden desk, grasps it, lifts it, moves it over the blue cup on the black table, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 181, "tasks": ["place tool"], "length": 101, "global_instruction": "Place the red-handled screwdriver from the rear desk into the light blue cup on the black table.", "scene_description": "A light blue cup sits on the right of a black worktable, with stacked blue and orange blocks to its left. A robotic arm is positioned above the cup. A rear wooden desk holds a red-handled screwdriver, 3D filament spools and supplies, with a marked whiteboard and framed photo on the wall behind.", "global_instruction_dense": "The right robotic arm moves away from the light blue cup toward the rear wooden desk, grasps the red-handled screwdriver, lifts it, moves it back over the light blue cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 182, "tasks": ["place tool"], "length": 107, "global_instruction": "Place the red-handled screwdriver into the blue cup on the black cabinet.", "scene_description": "An office workspace with a black foreground cabinet holding stacked blue blocks and a blue cup. A wooden desk with work supplies, a whiteboard with handwritten notes, and a robotic arm are in the background.", "global_instruction_dense": "The right robotic arm moves toward the wooden desk, grasps the red-handled screwdriver, lifts it, moves it over the blue cup on the black cabinet, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 183, "tasks": ["place tool"], "length": 95, "global_instruction": "Place the orange-handled long tool into the blue cup on the black table.", "scene_description": "A blue plastic cup rests on a black foreground table, a robotic arm is positioned above the table, a wooden work desk with tools and stacked 3D printing spools sits behind the black table, and a whiteboard with handwritten notes hangs on the wall above the work desk.", "global_instruction_dense": "The right robotic arm moves down to grasp the orange-handled long tool from the wooden work desk, lifts the tool, moves it over the blue cup on the black table, and lowers the tool into the blue cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 184, "tasks": ["place tool"], "length": 217, "global_instruction": "Pick up the red screwdriver from the wooden desk and place it into the blue cup on the black table.", "scene_description": "A white and black robotic arm is positioned near a black table holding a blue cup and stacked blue-and-orange blocks. Behind the black table is a wooden desk with miscellaneous supplies, a tiered 3D filament spool holder, and a framed picture leaning against a marked whiteboard. A black hard case and white air purifier sit on the floor to the left.", "global_instruction_dense": "The right robotic arm moves toward the red screwdriver resting on the wooden desk, grasps it, lifts it, moves it over the blue cup on the adjacent black table, and releases the screwdriver into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 185, "tasks": ["place tool"], "length": 86, "global_instruction": "Place the orange screwdriver from the wooden desk into the blue cup on the black table", "scene_description": "A black table with a blue cup and stacked blue-orange blocks sits in the foreground. Behind it is a wooden desk holding 3D filament spools, an orange screwdriver, and various small supplies. A whiteboard with writing and a framed picture is mounted on the wall, with a black hard case and white appliance on the floor below it. A robotic arm is positioned on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the wooden desk, grasps the orange screwdriver on the desk, lifts the screwdriver, moves it over the blue cup on the adjacent black table, and lowers the screwdriver into the blue cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 186, "tasks": ["place tool"], "length": 105, "global_instruction": "Pick up the orange screwdriver from the desk and move it near the blue cup on the black cabinet.", "scene_description": "A wooden desk holding stacked 3D filament spools, an orange screwdriver, small cups and office supplies sits against a marked whiteboard. A black cabinet with a blue cup and blue-orange blocks rests in front of the desk, a robotic arm is at the upper right, and equipment cases are on the floor left of the desk.", "global_instruction_dense": "The right robotic arm moves downward toward the orange screwdriver on the wooden desk, grasps the screwdriver with its gripper, lifts it, and moves it to position near the blue cup on the black cabinet.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 187, "tasks": ["place tool"], "length": 120, "global_instruction": "Place the orange-handled screwdriver from the wooden desk into the blue cup on the black table.", "scene_description": "A black table in the foreground holds a blue cup and a blue stapler. A wooden desk behind the table has stacked 3D filament spools, tools, and office supplies. A whiteboard with handwritten markings and a small framed picture are mounted on the wall, and a robotic arm is positioned at the upper right edge of the scene.", "global_instruction_dense": "The right robotic arm moves downward toward the orange-handled screwdriver on the wooden desk, grasps it, lifts it, moves it horizontally to position it over the blue cup on the foreground black table, lowers the screwdriver into the cup, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 188, "tasks": ["place tool"], "length": 85, "global_instruction": "Place the small red tool from the wooden desk into the blue cup on the black table.", "scene_description": "A black table holding a purple stapler and a blue plastic cup is in the foreground, a wooden work desk with assorted small tools and stacked 3D filament spools sits behind the table, next to a whiteboard with handwritten notes and a small framed picture, with a robotic arm positioned above the wooden desk.", "global_instruction_dense": "The right robotic arm moves downward toward the small red tool on the wooden desk, grasps it with its gripper, lifts the tool up, moves it over the blue cup on the black table, and lowers the tool into the blue cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 189, "tasks": ["place tool"], "length": 140, "global_instruction": "Pick up the orange screwdriver from the wooden desk and place it into the large blue cup on the black cabinet.", "scene_description": "A whiteboard with handwritten notes is above a wooden desk holding an orange screwdriver, small blue cup, stacked 3D filament spools, and small tools. A black cabinet with a purple jig and large blue cup sits in front of the desk, with a robotic arm to the cabinet's right.", "global_instruction_dense": "The right robotic arm moves toward the orange screwdriver on the wooden desk, grasps it, lifts it, moves it over the large blue cup on the black cabinet, lowers it into the cup, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 190, "tasks": ["place tool"], "length": 91, "global_instruction": "Pick up the orange screwdriver on the black table and place it into the blue cup on the same table.", "scene_description": "In an office workspace, a robotic arm is positioned at the upper right. A black foreground table holds a blue cup, a purple fixture, and an orange screwdriver. Behind the table is a wooden desk with assorted supplies, a whiteboard with handwritten notes on the wall, a framed picture next to a multi-tier filament spool holder, and black and white equipment on the floor to the left of the desk.", "global_instruction_dense": "The right robotic arm moves down toward the orange screwdriver on the black table, grasps it, lifts it, moves it over the blue cup on the table, and lowers the screwdriver into the blue cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 191, "tasks": ["place tool"], "length": 89, "global_instruction": "Place the orange tool from the wooden desk into the large blue cup on the black table", "scene_description": "A black table with a purple clamp and large blue cup sits in front of a cluttered wooden desk holding tools, 3D filament spools, and office supplies. A whiteboard with notes, framed picture, black hard case, and white electronic device are visible, with the robotic arm initially out of view.", "global_instruction_dense": "The right robotic arm moves toward the orange tool on the wooden desk, grasps it with its gripper, lifts it, moves it over the large blue cup on the black table, and lowers it toward the inside of the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 192, "tasks": ["place tool"], "length": 82, "global_instruction": "Pick up the orange-handled tool from the wooden worktable and place it on the rear office desk.", "scene_description": "A lab workspace has a whiteboard with handwritten notes on the wall, a framed picture below the whiteboard, stacked 3D filament spools on a wooden worktable, an orange-handled tool and small blue cup on the worktable, a black foreground table holding a blue-and-orange stacked block set and tall blue cup, black equipment cases on the left floor, and a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves downward toward the orange-handled tool on the wooden worktable, grasps the tool with its gripper, lifts it upward, and moves it toward the rear office desk for placement.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 193, "tasks": ["place tool"], "length": 103, "global_instruction": "Place the orange screwdriver from the wooden work desk into the large blue cup on the foreground black table.", "scene_description": "A wooden work desk holding an orange screwdriver, small blue cup, stacked 3D printer filament spools, and miscellaneous tools sits against a whiteboard with handwritten notes. A black table in the foreground holds a large blue cup and stacked blue-and-orange trays, with equipment cases on the floor to the left, and a robotic arm positioned to the right of the desk.", "global_instruction_dense": "The right robotic arm moves toward the orange screwdriver on the wooden work desk, grasps the screwdriver, lifts it, moves it over the large blue cup on the foreground black table, lowers the screwdriver into the cup, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 194, "tasks": ["place tool"], "length": 106, "global_instruction": "Place the small orange tool from the work desk into the large blue cup on the black table.", "scene_description": "A light brown work desk holds small tools and items, a black table in front of it holds a large blue cup and a blue-orange holder, a whiteboard with writing and a framed picture hang on the wall behind, equipment cases sit on the floor left of the desk, and a robotic arm is positioned at the upper right.", "global_instruction_dense": "The right robotic arm moves down toward the small orange tool on the light brown work desk, grasps it, lifts it, moves it over the large blue cup on the black table, and releases the tool into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 195, "tasks": ["place tool"], "length": 80, "global_instruction": "Place the orange screwdriver from the wooden desk into the larger light blue cup on the black table.", "scene_description": "A wooden desk holds a small light blue cup, orange tools, and miscellaneous supplies next to a multi-tier 3D printing spool stand below a whiteboard with handwritten notes. A larger light blue cup sits on a black table in front of the wooden desk, and a robotic arm is positioned at the top right of the scene.", "global_instruction_dense": "The right robotic arm moves downward toward the orange screwdriver on the wooden desk, grasps it, lifts it, moves it over the larger light blue cup on the black table, and lowers it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 196, "tasks": ["place tool"], "length": 95, "global_instruction": "Pick up the orange screwdriver from the tool holder and place it into the large blue cup.", "scene_description": "A black table holds a blue-orange tool holder with an orange screwdriver, and a large blue cup. A cluttered wooden desk is behind the table, a whiteboard with handwritten notes is mounted on the wall, and a robotic arm is positioned at the upper right.", "global_instruction_dense": "The right robotic arm moves toward the orange screwdriver in the blue-orange tool holder on the black table, grasps the screwdriver, lifts it, moves it over the large blue cup, lowers it into the cup, and releases the screwdriver inside the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 197, "tasks": ["place tool"], "length": 94, "global_instruction": "Place the orange-handled screwdriver into the light blue plastic cup", "scene_description": "A black table and wooden desk are in an office lab with a marked whiteboard in the background. On the black table, a blue and orange toolbox, an orange-handled screwdriver, and a light blue plastic cup are placed. The wooden desk holds 3D printing filament spools, small containers, and other office items, with a framed picture mounted on the wall beside the whiteboard. A robotic arm is positioned above the black table at the start.", "global_instruction_dense": "The right robotic arm moves downward toward the orange-handled screwdriver on the black table, grasps it, lifts it, moves it over the nearby light blue plastic cup, and releases it to drop the screwdriver into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 198, "tasks": ["place tool"], "length": 123, "global_instruction": "Place the orange screwdriver on the black table into the blue cup.", "scene_description": "A wooden work desk with assorted tools sits against a whiteboard with handwritten notes; a black table in front holds a blue cup and blue-orange fixture, 3D filament spools are next to a framed picture below the whiteboard, and no robotic arm is visible in the initial frame.", "global_instruction_dense": "The right robotic arm descends toward the orange screwdriver on the black table, grasps it, lifts it, moves it over the blue cup, lowers it into the cup, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 199, "tasks": ["place tool"], "length": 113, "global_instruction": "Place the orange-handled tool from the holder into the large blue cup on the black table.", "scene_description": "A wooden desk holding a small blue cup, filament spool stack, and small supplies sits against a whiteboard with notes; a black table in front holds a large blue cup and a blue-orange holder with an orange-handled tool inside, a robotic arm is positioned at the top right initially.", "global_instruction_dense": "The right robotic arm moves downward toward the blue-orange holder on the black table, grasps the orange-handled tool inside the holder, lifts the tool, moves it above the adjacent large blue cup, and lowers the tool into the blue cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 200, "tasks": ["place tool"], "length": 89, "global_instruction": "Pick up the orange-handled screwdriver and place it into the blue cup on the black table", "scene_description": "A whiteboard with handwritten notes is on the wall, below it a wooden desk holds assorted tools and stacked 3D printing spools. A black table in front of the desk has a blue-orange screwdriver holder with an orange-handled screwdriver inside, and a blue cup next to the holder. A robotic arm is positioned above the black table, with equipment cases on the floor and office monitors in the background.", "global_instruction_dense": "The right robotic arm moves downward to grasp the orange-handled screwdriver from its holder on the black table, lifts the screwdriver, moves it over the blue cup, and lowers it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 201, "tasks": ["place tool"], "length": 102, "global_instruction": "Pick up the orange screwdriver from the wooden desk and place it into the large blue cup on the black table.", "scene_description": "A wooden desk with an orange screwdriver, small blue cup, and assorted tools is positioned against a whiteboard with handwritten notes. A black table in front of the desk holds a large blue cup and stacked blue-and-orange blocks, with a white robotic arm on the right and storage cases on the left near the wall.", "global_instruction_dense": "The right robotic arm moves down toward the orange screwdriver on the wooden desk, grasps the screwdriver, lifts it, moves it over to the large blue cup on the black table, then inserts the screwdriver into the blue cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 202, "tasks": ["place tool"], "length": 144, "global_instruction": "Grasp the orange-handled screwdriver from the large blue cup, lift it, then place it back into the large blue cup.", "scene_description": "A black table holds a small light blue cup, a blue and orange tray, and a large blue cup containing an orange-handled screwdriver. Behind the table is a wooden work desk with assorted tools and stacked 3D filament spools, positioned in front of a whiteboard with handwritten notes and a small framed picture.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver inside the large blue cup on the black table, grasps the screwdriver to lift it out of the cup, moves it briefly above the table, then lowers it back into the large blue cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 203, "tasks": ["place tool"], "length": 106, "global_instruction": "Place the orange-handled tool into the large dark blue cup on the black table.", "scene_description": "A black table in the foreground holds a small light blue cup, a blue-and-orange rectangular item, and a large dark blue cup. A marked whiteboard, framed picture, wooden work desk with assorted supplies, and a robotic arm in the upper right are visible, with storage cases and appliances on the left floor.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled tool on the black table, grasps it, lifts it, moves it above the large dark blue cup, and lowers it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 204, "tasks": ["place tool"], "length": 93, "global_instruction": "Place the orange-handled long tool into the tall light blue cup on the black table.", "scene_description": "A black table holds a small light blue cup, stacked blue blocks with an orange base, and a tall light blue cup. Behind it is a wooden work desk with stacked 3D printing filament spools, various supplies, and an orange-handled long tool. A whiteboard with handwritten notes, a framed picture, and black equipment cases are on the wall and floor to the left, with a robotic arm positioned at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled long tool on the wooden work desk, grasps the tool, lifts it, moves it over the tall light blue cup on the black table, and inserts the tool into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 205, "tasks": ["place tool"], "length": 149, "global_instruction": "Place the red screwdriver from the wooden desk into the larger light blue cup on the black table.", "scene_description": "A black table in the foreground holds a small light blue cup, stacked blue and orange rectangular blocks, and a larger light blue cup. Behind it, a wooden desk holds assorted tools, with a stack of 3D printer filament spools to its left. A framed picture leans against a whiteboard covered in writing on the wall, and a person in a purple shirt stands to the right.", "global_instruction_dense": "The right robotic arm moves into the workspace, grasps the red screwdriver from the wooden desk, lifts it, moves it over the larger light blue cup on the foreground black table, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 206, "tasks": ["place tool"], "length": 143, "global_instruction": "Pick up the orange screwdriver and place it into the large blue cup", "scene_description": "A black table holds a small light blue cup, a blue-and-orange container, and a large blue cup. Behind it is a wooden desk with stacked 3D printer filament spools, tools and supplies. A whiteboard with writing and a framed picture are on the wall, and a robotic arm is at the upper right with a person in a purple shirt in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange screwdriver on the black table, grasps it, lifts it, moves to the large blue cup, and inserts the screwdriver into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 207, "tasks": ["place tool"], "length": 120, "global_instruction": "Place the orange screwdriver from the wooden work desk into the large blue cup on the black table.", "scene_description": "A black foreground table holds a small light blue cup, stacked blue blocks on an orange base, and a large blue cup. Behind it, a wooden work desk has 3D filament spools, an orange screwdriver, tools, and supplies. A whiteboard with writing, a framed photo, black case, and white appliance are left of the desk, with office chairs and computers in the background, and a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm lowers toward the orange screwdriver on the wooden work desk, grasps and lifts it, moves it over the large blue cup on the black foreground table, lowers the screwdriver into the cup, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 208, "tasks": ["place tool"], "length": 77, "global_instruction": "Pick up the orange screwdriver from the wooden desk and place it into the large dark blue cup on the black table.", "scene_description": "A wooden work desk against a marked whiteboard holds an orange screwdriver, stacked 3D filament spools, and small supplies. A black table in front of the wooden desk has a small light blue cup, a larger dark blue cup, and a blue block. A white robotic arm is positioned at the upper right, and equipment cases sit on the floor next to the wall.", "global_instruction_dense": "The right robotic arm moves toward the orange screwdriver on the wooden desk, grasps it, lifts it, moves it over the large dark blue cup on the black table, and lowers it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 209, "tasks": ["place tool"], "length": 113, "global_instruction": "Remove the orange-handled tool from the large blue cup then place it back into the cup.", "scene_description": "A black table in the foreground holds a small inverted light blue cup, a blue and orange layered rectangular tray, and an upright larger blue cup containing an orange-handled tool. Behind the table is a wooden desk with stacked 3D printer filament spools, office supplies, a framed photo mounted on the whiteboard wall behind the desk, and a robotic arm is positioned at the upper right of the scene.", "global_instruction_dense": "The right robotic arm moves toward the large blue cup on the black table, grasps the orange-handled tool inside it, lifts the tool out of the cup, adjusts its position, lowers the tool back into the blue cup, and then moves upward away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 210, "tasks": ["place tool"], "length": 122, "global_instruction": "Place the orange tool on the tray into the large blue cup on the black table.", "scene_description": "A black foreground table holds a small light blue cup, a blue-orange stacked tray, and a large blue cup. A wooden work desk behind it has assorted tools, stacked 3D filament spools, and a framed picture leaning against a whiteboard with handwritten notes, with a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves toward the orange tool on the tray, grasps and lifts it, moves it over the large blue cup, inserts the tool into the cup, then releases the tool and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 211, "tasks": ["place tool"], "length": 116, "global_instruction": "Place the orange-handled tool from the blue organizer into the blue cup on the black cabinet.", "scene_description": "A wooden desk against a whiteboard with handwritten notes holds 3D printing spools and small tools. A blue and orange organizer, a light blue cup, and a blue cup sit on a black cabinet adjacent to the desk, a robotic arm is at the upper right, and equipment cases rest on the floor left of the desk.", "global_instruction_dense": "The right robotic arm moves downward toward the blue organizer on the black cabinet, grasps the orange-handled tool inside the organizer, lifts the tool, moves it to the blue cup, lowers the tool into the cup, then releases the tool and moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 212, "tasks": ["place tool"], "length": 81, "global_instruction": "Place the orange-handled tool into the large light blue cup on the black worktable.", "scene_description": "In a robotics lab, a black worktable holds a small light blue cup, a blue and orange block assembly, a large light blue cup, and an orange-handled tool; behind it a wooden desk has stacked filament spools, tools, and a framed picture leaning against a marked whiteboard.", "global_instruction_dense": "The right robotic gripper moves down toward the orange-handled tool on the worktable, grasps it, lifts it, positions it over the large light blue cup, and releases the tool into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 213, "tasks": ["place tool"], "length": 91, "global_instruction": "Pick up the orange handled tool from the black table and place it onto the wooden work desk.", "scene_description": "A black foreground table holds a small light blue cup, stacked blue-and-orange items, and a large blue cup. Behind it is a wooden work desk with tools, stacked 3D printing filament spools, and a framed picture leaning against a whiteboard with handwritten markings, with a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves toward the orange handled tool on the black foreground table, grasps it, lifts it, moves it over the adjacent wooden work desk, and releases it onto the desk.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 214, "tasks": ["place tool"], "length": 96, "global_instruction": "Place the orange-handled tool from the blue holder into the larger blue cup", "scene_description": "A black table holds a small light blue cup, a blue holder with an orange-handled tool inside, and a larger blue cup. Behind the table is a wooden desk with stacked 3D filament spools, office supplies, a framed print against a marked whiteboard, and a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves downward toward the blue holder on the black table, grasps the orange-handled tool inside the holder, lifts the tool, moves it over the larger blue cup to the right of the holder, releases the tool into the cup, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 215, "tasks": ["place tool"], "length": 85, "global_instruction": "Pick the orange-handled screwdriver from the blue fixture and place it into the large dark blue cup", "scene_description": "A black worktable holds a small light blue cup, a blue fixture with an orange-handled screwdriver, and a large dark blue cup. A wooden desk with 3D filament spools and tools sits behind it, with a marked whiteboard on the wall, and a robotic arm is positioned at the upper right initially.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver in the blue fixture on the black worktable, grasps it, lifts it, moves it over the large dark blue cup, and lowers it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 216, "tasks": ["place tool"], "length": 81, "global_instruction": "Place the orange tool from the purple holder into the large blue cup", "scene_description": "A small light blue cup, a purple holder with an orange tool inside, and a large blue cup are placed on a black table. A robotic arm is positioned above the table, with a wooden desk, 3D filament spools, and a marked whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple holder on the black table, grasps the orange tool inside the holder, lifts it, moves it over the large blue cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 217, "tasks": ["place tool"], "length": 114, "global_instruction": "Place the orange-handled screwdriver from the purple tool rack into the large dark blue cup", "scene_description": "A black work table holds a small light blue cup, a large dark blue cup, and a purple tool rack with an orange-handled screwdriver inside. A robotic arm is positioned above the table, with a wooden desk, 3D filament spools, a whiteboard with notes, office chairs, computers, and equipment cases on the floor in the background.", "global_instruction_dense": "The right robotic arm lowers toward the orange-handled screwdriver in the purple tool rack, grasps it, lifts it out of the rack, moves it over the large dark blue cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 218, "tasks": ["place tool"], "length": 116, "global_instruction": "Pick up the orange screwdriver from the purple rack and place it into the taller light blue cup on the black table.", "scene_description": "A black side table and a wooden work desk are placed in front of a whiteboard with handwritten notes. On the black table, there is a small light blue cup, a purple rack with an orange screwdriver on it, and a taller light blue cup. A white and black robotic arm is positioned to the right of the black table.", "global_instruction_dense": "The right robotic arm moves toward the orange screwdriver on the purple rack on the black table, grasps the screwdriver, lifts it, moves it over the taller light blue cup, lowers it, and releases the screwdriver into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 219, "tasks": ["place tool"], "length": 113, "global_instruction": "Pick up the orange handled screwdriver from the wooden desk and place it into the blue cup on the black table.", "scene_description": "A wooden desk holding an orange handled screwdriver, small tools and supplies stands against a wall under a marked whiteboard, a 3D filament spool rack sits beside the desk, a black table with a blue cup and purple fixture is positioned in front of the wooden desk, and a robotic arm is positioned above the wooden desk.", "global_instruction_dense": "The right robotic arm moves downward toward the orange screwdriver on the wooden desk, grasps the screwdriver, lifts it, moves it over the blue cup on the front black table, lowers the screwdriver into the cup, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 220, "tasks": ["place tool"], "length": 169, "global_instruction": "Place the orange screwdriver on the table into the black bowl.", "scene_description": "A wooden work table holds a black bowl, an orange screwdriver, a yellow screwdriver, a black long-handled tool on white paper, and a crumpled silver object. A robotic arm is positioned at the upper right of the table, with a tool chest, Amazon box, and wall-mounted TV in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange screwdriver on the wooden table, grasps it with its gripper, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 221, "tasks": ["place tool"], "length": 136, "global_instruction": "Place the orange-handled tool into the black bowl on the worktable", "scene_description": "A wooden worktable holds a black bowl (containing a yellow-handled screwdriver at the front left), a roll of gray tape, a long black tool resting on a white printed sheet, and crumpled silver foil next to the sheet. A white robotic arm is at the right edge of the table, with a dark metal tool chest, Amazon box, office supplies, wall-mounted TV, black curtains, and multicolored striped wall in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the orange-handled tool at the right side of the worktable, grasps the tool, lifts it, moves it left over the black bowl on the table, then releases the tool to drop it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 222, "tasks": ["place tool"], "length": 147, "global_instruction": "Place the orange-handled screwdriver into the black bowl on the wooden table.", "scene_description": "A light wooden table holds a roll of black tape, a roll of gray tape, a long black tool, a black bowl, a white printed sheet, and an orange-handled screwdriver resting on the sheet. A right robotic gripper is positioned above the table's right side, with a black tool chest, Amazon box, and wall-mounted monitor in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the table, positions over the orange-handled screwdriver on the white sheet, grasps the screwdriver, lifts and moves it over the black bowl, then releases the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 223, "tasks": ["place tool"], "length": 122, "global_instruction": "Pick up the yellow-handled scissors from the worktable and place them into the black container at the right edge of the table.", "scene_description": "A wooden worktable holds a gray tape roll, a small yellow-black screwdriver, yellow-handled scissors, a black long tool, a dark gray tape roll, and a white instruction booklet. A black tool chest with an Amazon box, stationery, and a wall-mounted TV is behind the table, with a colorful striped wall on the right.", "global_instruction_dense": "The right robotic gripper moves downward toward the yellow-handled scissors on the wooden worktable, grasps the scissors, lifts and moves them rightward over the black container at the table's right edge, then releases the scissors into the container.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 224, "tasks": ["place tool"], "length": 117, "global_instruction": "Remove the yellow-handled scissors and gray circular disc from the black bowl and place them on the wooden table.", "scene_description": "A light wooden work table holds a small silver metallic object, a long black-handled tool, a roll of dark gray tape, and a black bowl containing yellow-handled scissors and a gray circular disc. A white robotic arm is positioned to the right of the table, with a workbench, Amazon box, wall-mounted TV, black curtains, and colorful striped wall in the background.", "global_instruction_dense": "The right robotic arm moves toward the black bowl on the wooden table, grasps the yellow-handled scissors and gray circular disc inside the bowl, lifts both items out of the bowl, moves them to empty table space beside the bowl, and releases them onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 225, "tasks": ["place tool"], "length": 155, "global_instruction": "Place the yellow scissors into the black bowl on the worktable", "scene_description": "A light wooden worktable holds a small silver object, black long rod, black bowl, yellow scissors, white tape roll, and black rectangular item. A dark tool cabinet with an Amazon box, black curtains, and a colorful striped wall are in the background, with a right robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves toward the yellow scissors on the worktable, grasps them, lifts them, moves over the black bowl, and releases the scissors into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 226, "tasks": ["place tool"], "length": 267, "global_instruction": "Place the purple-handled screwdriver into the green mug on the table.", "scene_description": "A black tape measure, a purple-handled screwdriver, and a green mug are placed on a white table. A black electronic device sits to the left of the table, a dark vertical shelf with a pink item is behind the table, and a wooden side table with white printed cups is in the right background.", "global_instruction_dense": "The right robotic arm moves toward the purple-handled screwdriver on the white table, grasps it, lifts it, moves it over the green mug, lowers it into the mug, and releases the screwdriver.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 227, "tasks": ["place tool"], "length": 321, "global_instruction": "Place the blue-handled screwdriver into the green mug.", "scene_description": "A white table holds a blue-handled screwdriver to the left of a green mug, with background furniture and equipment visible.", "global_instruction_dense": "The right robotic gripper moves toward the blue-handled screwdriver on the white table, grasps it, lifts it, moves it above the green mug, lowers it into the mug, and releases the screwdriver.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 228, "tasks": ["place tool"], "length": 259, "global_instruction": "Place the purple-handled screwdriver into the yellow mug on the table", "scene_description": "A white table holds a dark blue hardcover book, a black wallet with a red stripe, a purple-handled screwdriver, and a yellow ceramic mug. A black monitor is behind the table, and a small wooden side table with papers is in the right background.", "global_instruction_dense": "The right robotic gripper moves into the scene, descends to grasp the purple-handled screwdriver on the white table, lifts it, moves it over the yellow mug, lowers it into the mug, and releases the screwdriver.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 229, "tasks": ["place tool"], "length": 207, "global_instruction": "Pick up the small golden L-shaped tool and place it into the lime green mug", "scene_description": "A black table holds a lime green mug at its center, a small golden L-shaped tool to the right of the mug, and a silver metal fixture on its left edge. A robotic gripper is positioned above the upper right area of the black table.", "global_instruction_dense": "The right robotic gripper moves down toward the small golden L-shaped tool on the black table, grasps it, lifts it, moves it over the lime green mug, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 230, "tasks": ["place tool"], "length": 157, "global_instruction": "Take the orange tool out of the yellow-green mug and place it into the dark blue can.", "scene_description": "A black table holds a silver metal fixture on its left, a yellow-green mug with an orange tool inside, and a dark blue can to the right of the mug. A robotic arm is at the upper right of the table, and green fabric sits on a white table to the left of the black table.", "global_instruction_dense": "The right robotic arm moves toward the yellow-green mug on the black table, grasps the orange tool inside the mug, lifts the tool out, moves it rightward over the dark blue can, and lowers the tool into the can.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 231, "tasks": ["place tool"], "length": 179, "global_instruction": "Place the small orange bent-tipped tool into the green mug on the table", "scene_description": "A black table holds a small orange bent-tipped tool, a green mug, and a blue-topped yellow box from center to right. A silver metal plate rests on the left edge of the black table, and a white table with a folded green cloth and photography equipment sits to the left of the black table. A robotic gripper is positioned above the upper right of the black table initially.", "global_instruction_dense": "The right robotic arm lowers toward the small orange bent-tipped tool on the black table, grasps the tool, lifts it, moves it over the green mug, releases the tool to drop into the mug, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 232, "tasks": ["place tool"], "length": 225, "global_instruction": "Place the small white screwdriver bit into the yellow cup", "scene_description": "A black work table holds a silver metal fixture on the left, a yellow cup at the center, and a small white screwdriver bit to the right of the cup; a cardboard box sits to the left of the table, and a cluttered workbench is in the background.", "global_instruction_dense": "The right robotic gripper moves downward from the top right of the frame toward the small white screwdriver bit on the right side of the black table, grasps it, lifts it, moves it leftward over the yellow cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 233, "tasks": ["place tool"], "length": 261, "global_instruction": "Place the small silver elongated tool into the yellow mug on the black table", "scene_description": "A black table is in the foreground. A silver metal fixture rests on the left edge of the table next to an open brown cardboard box. On the table surface, there is a yellow mug with a white rim, a small red-clear tape roll, a silver rectangular object, and a small silver elongated tool, with the tool positioned beside the mug. A white table with assorted tools, wires, and a tripod is in the background, and no robotic arm is visible.", "global_instruction_dense": "The right robotic gripper enters the frame from the upper right, moves downward to grasp the small silver tool next to the yellow mug, lifts the tool, positions it over the opening of the yellow mug, and releases it so it falls into the mug.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 234, "tasks": ["place tool"], "length": 158, "global_instruction": "Place the small silver tool on the black table into the adjacent yellow mug.", "scene_description": "A black table holds a yellow mug with a white rim, a small silver tool, and a silver metal plate on its left. A white table with assorted electronics, tools, and a tripod sits in the background.", "global_instruction_dense": "The right robotic arm moves into view above the black table, descends to grasp the small silver tool, lifts it, moves it over the yellow mug, releases it into the mug, then retracts away.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 235, "tasks": ["place tool"], "length": 214, "global_instruction": "Pick up the small silver tool and place it into the yellow mug on the black table.", "scene_description": "A black table holds a silver metal plate on the left, a yellow mug at the center, and a small silver tool to the right of the mug. A white table with assorted tools, cables, and a tripod is in the background, with a robotic arm initially out of view.", "global_instruction_dense": "The left robotic arm moves from above the frame down toward the small silver tool on the black table, grasps the tool, lifts it, moves it over the yellow mug, lowers it into the mug, then releases the tool and retracts.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 236, "tasks": ["place tool"], "length": 202, "global_instruction": "Take the blue scissors out of the yellow mug and place them on the green cloth.", "scene_description": "A table has a section covered with green cloth, a yellow mug containing blue scissors sits on the right of the green cloth, various lab tools and containers are on the uncovered white part of the table behind the cloth.", "global_instruction_dense": "The right robotic arm moves into the frame, approaches the yellow mug on the green cloth, grasps the blue scissors inside the mug, lifts the scissors out, moves the scissors over the green cloth, lowers and releases the scissors onto the green cloth, then retracts away.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 237, "tasks": ["place tool"], "length": 116, "global_instruction": "Take the red-top screwdriver out of the yellow mug and place it on the black table.", "scene_description": "A yellow mug holding a red-top screwdriver, a small clear plastic bottle, and a messy white work area with tools are on a black tabletop, no robotic arm is visible initially.", "global_instruction_dense": "The right robotic gripper moves toward the yellow mug, grasps the red-top screwdriver inside it, lifts the screwdriver out of the mug, moves it to the table surface to the right of the mug, releases the screwdriver, then retracts.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 238, "tasks": ["place tool"], "length": 131, "global_instruction": "Remove the screwdriver from the yellow mug and place it on the black table.", "scene_description": "A black table holds a yellow mug with a red and blue screwdriver inside, a small clear glass is to the left of the mug, a robotic gripper is positioned above the table with a cluttered work desk in the background.", "global_instruction_dense": "The robotic gripper moves down toward the yellow mug, grasps the red and blue screwdriver inside, lifts the screwdriver out of the mug, moves it over the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 239, "tasks": ["place tool"], "length": 147, "global_instruction": "Place the blue-and-red handled tool from inside the yellow cup onto the black tabletop.", "scene_description": "A black table stands in front of a beige curtain, with a light gray chair behind it. A pale yellow cup with a black rim holding a blue-and-red handled tool sits on the table's right half; a robotic arm assembly with tangled white wires is at the table's far right, and a silver metal fixture is on the table's left edge.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow cup on the black table, grasps the blue-and-red handled tool inside the cup, lifts the tool out of the cup, places it on the table surface, then lifts its gripper away from the tool.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 240, "tasks": ["place tool"], "length": 204, "global_instruction": "Pick the blue tool from the wooden tray and place it on the purple mat near the plastic container.", "scene_description": "A white office table holds a wooden tray with a blue small tool and several white cylindrical objects, a plastic container with more white cylindrical objects sits on a purple mat near the tray, and a black backpack leans against the partition next to the table.", "global_instruction_dense": "The right robotic arm moves downward toward the blue tool in the wooden tray, grasps and adjusts its hold on the tool, lifts it, moves it over the purple mat next to the plastic container, and releases it onto the mat.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 241, "tasks": ["place tool"], "length": 128, "global_instruction": "Pick up the red-tipped tool from the wooden tray and place it on the adjacent table surface.", "scene_description": "A white office table holds a white power strip with orange indicators on the left, a light beige wooden tray with a red-tipped metal tool inside at the center, scattered cables and monitors on the right, and a small clear plastic spoon near the bottom edge.", "global_instruction_dense": "The right robotic arm lowers toward the red-tipped metal tool inside the wooden tray, grasps the tool with its gripper, lifts the tool, moves it to the table area next to the tray, lowers the tool, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 242, "tasks": ["place tool"], "length": 167, "global_instruction": "Pick up the red-tipped screwdriver from the wooden tray and place it on the adjacent desk surface.", "scene_description": "A white office desk holds a white power strip with orange sockets on the left, a light wooden rectangular tray next to the power strip, a small red-tipped screwdriver inside the tray, a black backpack leaning against a gray partition behind the desk, a clear plastic spoon near the desk's bottom edge, and cables plus a monitor on the desk's right side.", "global_instruction_dense": "The right robotic arm moves from off-screen down to the wooden tray, grasps the red-tipped screwdriver inside the tray, lifts the screwdriver, moves it rightward over the desk next to the tray, lowers it to the desk, and releases it onto the desk surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 243, "tasks": ["place tool"], "length": 146, "global_instruction": "Pick up the small red-tipped screwdriver and place it into the light wooden tray on the desk.", "scene_description": "A white office desk holds a white power strip with orange buttons, a light wooden tray, a small red-tipped screwdriver, a plastic spoon, and cables. A black backpack rests behind the desk partition, with a monitor on the right side of the desk.", "global_instruction_dense": "The right robotic arm moves down toward the small red-tipped screwdriver on the desk, grasps it, lifts it, moves it over the light wooden tray, and releases it to place the screwdriver inside the tray.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 244, "tasks": ["place tool"], "length": 159, "global_instruction": "Pick up the red-tipped screwdriver from the wooden tray and place it on the clear plastic disc beside the tray.", "scene_description": "A white office desk holds a light wooden tray with a red-tipped screwdriver inside it, a white power strip with orange switches to the left of the tray, scattered white wires, and a black backpack behind the gray desk partition.", "global_instruction_dense": "The right robotic gripper moves downward toward the wooden tray, grasps the red-tipped screwdriver inside the tray, lifts it, moves it over the adjacent clear plastic disc, lowers it, and releases it onto the disc.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 245, "tasks": ["place tool"], "length": 135, "global_instruction": "Pick the small red-tipped tool from the beige tray and place it on the purple paper.", "scene_description": "A white office desk holds a beige tray with a small red-tipped tool inside it, a purple sheet of paper to the right of the tray, and a white power strip with orange indicators to the left of the tray, with office partitions, a black backpack, and computer equipment in the background.", "global_instruction_dense": "The right robotic arm moves from its initial position above the desk down toward the beige tray, grasps the small red-tipped tool inside the tray, lifts the tool, moves it over the purple paper to the right of the tray, lowers the tool, and releases it onto the purple paper.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 246, "tasks": ["place tool"], "length": 142, "global_instruction": "Pick up the red-tipped screwdriver from the beige tray and place it on the purple mat", "scene_description": "A white office desk holds a beige tray with a red-tipped screwdriver inside, a purple mat to the right of the tray, a white power strip with orange sockets to the left of the tray, a black backpack against the partition, and monitors with cables on the desk's right side.", "global_instruction_dense": "The right robotic arm moves toward the red-tipped screwdriver in the beige tray, grasps the screwdriver, lifts it, moves it over the purple mat, and places it onto the purple mat.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 247, "tasks": ["place tool"], "length": 131, "global_instruction": "Pick up the red-tipped metal tool from the wooden tray and place it onto the purple sheet on the desk.", "scene_description": "A white office desk holds a white power strip with orange outlets, a beige two-compartment wooden tray with a red-tipped metal tool in its left slot, a flat purple sheet to the right of the tray, assorted cables and monitors on the right, with a black backpack behind the desk partition.", "global_instruction_dense": "The right robotic arm enters the scene, moves down to the red-tipped metal tool in the beige wooden tray, grasps the tool, lifts it, moves it over the purple sheet to the right of the tray, lowers it, and releases it onto the purple sheet.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 248, "tasks": ["place tool"], "length": 156, "global_instruction": "Pick the red-tipped tool from the wooden tray and place it on the purple paper.", "scene_description": "A white office desk holds a white power strip with orange lights on the left, a light wood two-compartment tray with a red-tipped tool next to the power strip, a purple paper sheet to the right of the tray, and monitors on the far right, with a black backpack against the grey partition behind the desk.", "global_instruction_dense": "The right robotic arm enters the frame from above, moves down to the wooden tray, grasps the red-tipped tool inside the tray, lifts it, moves it over the purple paper, then lowers and releases the tool onto the purple paper.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 249, "tasks": ["place tool"], "length": 148, "global_instruction": "Pick up the red-tipped screwdriver from the wooden tray and place it on the purple paper.", "scene_description": "A white office desk holds a white multi-hole rack with orange contents on the left, a light wooden tray with a red-tipped screwdriver inside, a purple paper sheet to the right of the tray, assorted cables, and a monitor at the far right; a black backpack rests behind the desk partition.", "global_instruction_dense": "The right robotic arm moves down toward the red-tipped screwdriver in the wooden tray, grasps the screwdriver, lifts it, moves it over the adjacent purple paper, and releases the screwdriver onto the purple paper.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 250, "tasks": ["place tool"], "length": 140, "global_instruction": "Pick up the red-tipped metal tool from the wooden tray and place it on the purple paper.", "scene_description": "A white desk holds a white power strip with orange switches, a light wooden tray with a red-tipped metal tool inside, a purple paper sheet, a plastic spoon, a black backpack against the rear grey partition, and monitors on the right side of the desk.", "global_instruction_dense": "The right robotic arm moves toward the red-tipped metal tool in the light wooden tray on the desk, grasps the tool with its gripper, lifts it, moves it over the adjacent purple paper, lowers the tool, and releases it onto the purple paper.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 251, "tasks": ["place tool"], "length": 146, "global_instruction": "Pick up the red-tipped screwdriver from the wooden tray and place it onto the purple paper", "scene_description": "A light beige double-slot wooden tray, a white multi-port socket with orange inserts, a purple sheet of paper, and a clear plastic spoon are on a white office desk. A red-tipped screwdriver rests inside the wooden tray, the socket is to the left of the tray, the purple paper is to the right of the tray, and the spoon is at the desk's front edge. A robotic arm is positioned at the back of the desk, with office cubicles and monitors in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the red-tipped screwdriver inside the wooden tray, grasps it with the gripper, lifts it, moves it over the purple paper to the right of the tray, lowers it, and releases it onto the purple paper.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 252, "tasks": ["place tool"], "length": 150, "global_instruction": "Pick up the red-tipped screwdriver from the wooden tray and place it on the purple paper.", "scene_description": "A white power strip with orange outlets, a light wooden tray holding a red-tipped screwdriver, and a purple sheet of paper are on a white office desk. The power strip is left of the tray, the purple paper is right of the tray, with a black backpack against the gray partition behind the desk and monitors on the far right of the desk.", "global_instruction_dense": "The right robotic arm moves toward the red-tipped screwdriver in the wooden tray, grasps it with the gripper, lifts it, moves it rightward over the purple paper, lowers it, and releases it onto the purple paper.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 253, "tasks": ["place tool"], "length": 150, "global_instruction": "Pick up the screwdriver on the purple paper and place it into the wooden tray", "scene_description": "A white office desk holds a white power strip on the left, a light wooden divided tray next to the strip, a purple paper with a blue-red handled screwdriver on it to the tray's right, a black backpack against the rear grey partition, and a computer monitor on the far right.", "global_instruction_dense": "The right robotic arm descends from above the desk, moves toward the screwdriver resting on the purple paper, grasps it with its gripper, lifts it, moves it left over the wooden divided tray, lowers it, and releases it into the tray.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 254, "tasks": ["place tool"], "length": 142, "global_instruction": "Place the red-tipped screwdriver from the wooden tray onto the purple paper sheet", "scene_description": "A white office desk has a white multi-outlet power strip on the left, a light wooden dual-compartment tray at center-left holding a small red-tipped screwdriver, a purple paper sheet to the right of the tray, scattered cables, and a computer monitor on the far right, with a robotic arm positioned at the top right.", "global_instruction_dense": "The right robotic arm moves down toward the red-tipped screwdriver in the wooden tray, grasps the screwdriver, lifts it, moves it over the purple paper, and lowers it to place the screwdriver onto the purple paper.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 255, "tasks": ["place tool"], "length": 182, "global_instruction": "Place the small red-topped screwdriver on the purple paper into the wooden tray.", "scene_description": "A white office desk holds a white power strip with orange sockets, a light two-compartment wooden tray, a purple paper sheet with a small red-topped screwdriver on it, with office cables, a monitor and black backpack in the background.", "global_instruction_dense": "The right robotic arm moves down toward the red-topped screwdriver on the purple paper, grasps it with its gripper, lifts it, moves left over the light wooden two-compartment tray, and releases the screwdriver into the tray.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 256, "tasks": ["place tool"], "length": 206, "global_instruction": "Pick up the red-tipped tool from the wooden tray and place it on the purple mat", "scene_description": "A white office desk holds a white power strip with orange switches on the left, a light wooden two-compartment tray next to the power strip, a purple mat to the right of the tray, a red-tipped tool inside the tray, and a plastic spoon near the desk front edge. A black backpack rests against the partition behind the desk, and computer monitors are on the desk's right side.", "global_instruction_dense": "The right robotic arm moves down toward the red-tipped tool in the wooden tray, grasps the tool, lifts it, moves it over the purple mat, lowers it, and releases it onto the purple mat.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 257, "tasks": ["place tool"], "length": 159, "global_instruction": "Pick up the small metal tool from the wooden tray and place it onto the purple paper sheet", "scene_description": "A light beige dual-compartment wooden tray with a small metal tool inside, a white multi-socket power strip, a purple rectangular paper sheet, and a transparent plastic spoon are placed on a white office desk. A black backpack is behind the gray desk partition, and computer monitors are on the far right of the desk.", "global_instruction_dense": "The right robotic arm moves into view above the desk, lowers toward the small metal tool in the wooden tray, grasps the tool with its gripper, lifts it, moves it over the purple paper sheet, and releases the tool to place it on the paper.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 258, "tasks": ["place tool"], "length": 137, "global_instruction": "Place the small red-tipped screwdriver on the purple paper into the light wooden two-compartment tray.", "scene_description": "A light wooden two-compartment tray, a white power strip with orange ports, a purple sheet of paper with a small red-tipped screwdriver on it, a clear plastic spoon, and scattered cables are placed on a white office desk. A black backpack rests against the gray partition behind the desk, with computer monitors on the far right of the desk.", "global_instruction_dense": "The right robotic gripper moves from the upper right of the frame toward the small red-tipped screwdriver on the purple paper, grasps the screwdriver, lifts it, moves left over the light wooden two-compartment tray, then releases the screwdriver into the tray.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 259, "tasks": ["place tool"], "length": 424, "global_instruction": "Pick up the red-tipped screwdriver from the wooden tray and place it on the purple paper on the desk.", "scene_description": "A light wooden two-compartment tray holding a small red-tipped screwdriver, a purple sheet of paper adjacent to the tray, a white power strip with orange inserts, and office monitors with cables are placed on a white office desk, with a robotic arm positioned above the back of the desk.", "global_instruction_dense": "The right robotic gripper moves down toward the red-tipped screwdriver inside the wooden tray, adjusts its position to successfully grasp the screwdriver, lifts it from the tray, moves it over the adjacent purple paper, and releases the screwdriver onto the purple paper.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 260, "tasks": ["place tool"], "length": 161, "global_instruction": "Pick up the red-tipped screwdriver from the wooden tray and place it on the purple paper on the desk", "scene_description": "A light wood two-compartment tray holding a red-tipped screwdriver, a purple rectangular paper, and a white power strip with orange switches are placed on a white office desk. A black backpack rests against the gray partition behind the desk, with a monitor and wires on the right side of the desk, and a robotic arm is positioned above the desk.", "global_instruction_dense": "The right robotic arm moves downward toward the wooden tray, grasps the red-tipped screwdriver inside the tray, lifts the screwdriver, moves it over the purple paper on the desk, then lowers and releases the screwdriver onto the purple paper.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 261, "tasks": ["place tool"], "length": 128, "global_instruction": "Pick up the small green-tipped tool from the table and place it into the white round bowl.", "scene_description": "A light wooden table holds a white round bowl on its left section and a small green-tipped tool to the right of the bowl, with a robotic arm positioned on the right side of the table, and white wall-mounted cabinets, a sink area, and a window in the background.", "global_instruction_dense": "The right robotic arm moves toward the small green-tipped tool on the wooden table, grasps the tool, lifts it, moves it left above the white round bowl, and releases the tool to drop it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 262, "tasks": ["place tool"], "length": 119, "global_instruction": "Pick up the green screwdriver from the table and place it into the yellow round container.", "scene_description": "A light wooden table holds a yellow shallow round container and a green screwdriver, with a robotic arm positioned to the right of the table, white wall cabinets above the table, and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the green screwdriver on the wooden table, grasps it with its gripper, lifts it, moves it over the yellow round container, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 263, "tasks": ["place tool"], "length": 161, "global_instruction": "Pick up the green-handled screwdriver and place it into the small light blue container on the countertop", "scene_description": "A light brown wooden countertop holds a green-handled screwdriver and a small light blue container, a white robotic arm is positioned to the right of the counter, white wall cabinets are above the counter, and a wood-framed whiteboard is on the left wall.", "global_instruction_dense": "The right robotic arm moves toward the green-handled screwdriver on the countertop, grasps it with its gripper, lifts the screwdriver, moves it over the small light blue container, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 264, "tasks": ["place tool"], "length": 192, "global_instruction": "Place the green-handled screwdriver into the green plastic cup on the table", "scene_description": "A light wooden table has a green plastic cup on its left part and a green-handled screwdriver to the right of the cup, with a robotic arm at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the green-handled screwdriver on the table, grasps it, lifts it, moves it above the green cup, lowers it toward the cup, and knocks the cup over onto the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 265, "tasks": ["place tool"], "length": 166, "global_instruction": "Place the green screwdriver into the green cup on the table", "scene_description": "A light wooden table has a green cup on its left area and a green screwdriver to the right of the cup, with a robotic arm at the right end of the table.", "global_instruction_dense": "The right robotic arm moves toward the green screwdriver on the table, grasps it, lifts it, moves it over the green cup, lowers it into the cup, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 266, "tasks": ["place tool"], "length": 152, "global_instruction": "Place the green-handled screwdriver into the green cup on the table", "scene_description": "A light brown wooden tabletop holds a green cylindrical cup and a green-handled screwdriver, with white wall cabinets above the table, a wooden-framed whiteboard on the left wall, and a robotic arm positioned to the right of the table near a sink.", "global_instruction_dense": "The right robotic arm moves toward the green-handled screwdriver on the wooden table, grasps it with its gripper, lifts it, moves it to position above the green cup, lowers the screwdriver into the cup, releases the screwdriver, and lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 267, "tasks": ["place tool"], "length": 161, "global_instruction": "Pick up the green-handled screwdriver and place it into the white bowl.", "scene_description": "A light wooden tabletop holds a white printed bowl left of center and a green-handled screwdriver right of the bowl, with white cabinets mounted on the wall above the table's left side and a robotic arm at the table's right.", "global_instruction_dense": "The right robotic arm moves toward the green-handled screwdriver on the table, grasps it with its gripper, lifts it, moves it left over the white bowl, then releases the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 268, "tasks": ["place tool"], "length": 104, "global_instruction": "Pick up the green-handled screwdriver and place it into the clear plastic cup", "scene_description": "A clear plastic cup and a green-handled screwdriver are placed on a light wooden table. A right robotic arm is positioned to the right of the table, with white cabinets mounted on the wall above the table.", "global_instruction_dense": "The right robotic arm moves toward the green-handled screwdriver on the table, grasps it, lifts it, moves it over the clear plastic cup, then lowers and places it inside the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 269, "tasks": ["place tool"], "length": 306, "global_instruction": "Pick up the keys from the wooden table and place them on the small attached shelf next to the yellow lemon.", "scene_description": "A light brown wooden side table holds a white round plate, a set of metal keys left of the plate, and a yellow lemon on a smaller attached shelf to the table's right. A brown sofa is in the left foreground, a heater sits under a window with a red-blue cap on the windowsill, and a robotic arm is positioned on the right of the scene.", "global_instruction_dense": "The right robotic arm moves toward the metal keys on the wooden table, grasps the keys, lifts them, moves rightward over the small attached shelf next to the yellow lemon, lowers the keys, and releases them onto the small shelf.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 270, "tasks": ["place tool"], "length": 443, "global_instruction": "Place the screwdriver onto the extended wooden shelf attached to the cabinet.", "scene_description": "A brown sofa is on the left, a light wooden cabinet with a white round plate on its top is against the wall, an extended light wood shelf is attached to the cabinet's right side, a window ledge above holds a red-blue cap and small items, and a black desk with a purple-lit robotic arm is on the right.", "global_instruction_dense": "The right robotic arm holds a red and silver screwdriver, moves it leftward over the extended light wood shelf connected to the wooden cabinet, lowers the screwdriver, and releases it onto the shelf.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 271, "tasks": ["place tool"], "length": 148, "global_instruction": "Pick up the key attached to the orange-handled screwdriver and place it on the white round plate.", "scene_description": "A brown sofa is on the left, a light wooden cabinet with a white round plate on top sits against the wall, an extended small wooden shelf next to the cabinet holds an orange-handled screwdriver with an attached key, a window sill above the shelf holds small items and a red-blue cap, and a dark desk with a mounted robotic arm is on the right.", "global_instruction_dense": "The right robotic arm moves down from above the window toward the small shelf, grasps the key attached to the orange-handled screwdriver, lifts the key, moves it left over the white round plate on the wooden cabinet, and releases the key onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 272, "tasks": ["place tool"], "length": 162, "global_instruction": "Place the orange-handled screwdriver from the extended shelf onto the top of the light brown cabinet near the white plate.", "scene_description": "A light brown wooden cabinet is against a light wall, with a white round plate on its top, an orange-handled screwdriver on its extended right shelf. A brown sofa is at the lower left, a dark worktable with a robotic arm base is at the lower right, and a windowsill with a red cap and yellow ball is in the background.", "global_instruction_dense": "The right robotic arm moves down from above the window toward the extended shelf, grasps the orange-handled screwdriver, lifts it, moves left over the cabinet top, lowers the screwdriver, and places it on the cabinet surface next to the white plate.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 273, "tasks": ["place tool"], "length": 209, "global_instruction": "Pick the orange screwdriver from the side table and place it on the window ledge", "scene_description": "A light brown wooden side table against the wall holds a white mug, a white plate with a small metal key, and an orange screwdriver. A brown sofa is left of the table, a white heater under a window ledge holding a blue-white ball and red-blue cap is right of the table, and a robotic arm base sits on a dark table further right.", "global_instruction_dense": "The right robotic arm extends toward the orange screwdriver on the wooden side table, grasps it, lifts it, moves it over to the window ledge, and places it on the ledge next to the small ball.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 274, "tasks": ["place tool"], "length": 165, "global_instruction": "Pick the silver key from the white plate and place it on the wooden table next to the white mug.", "scene_description": "A light brown wooden side table is against the wall, with a white mug and a white plate holding a small silver key on its surface. A tan sofa is to the left of the table, a worktable with a robotic arm is to the right, a white heater sits under the window behind the table, and a red-blue cap is on the window sill.", "global_instruction_dense": "The right robotic arm moves toward the silver key on the white plate on the wooden side table, grasps and lifts the key, moves it to the table surface next to the white mug, then releases the key there.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 275, "tasks": ["place tool"], "length": 507, "global_instruction": "Move the silver keys from the wooden side table to the windowsill, then place them onto the wooden side table.", "scene_description": "A light brown wooden side table holds a white mug, white plate, and silver keys against a wall. A tan fabric sofa sits to the left of the table, a black table with a purple-lit robotic arm base is to the right, a windowsill with a red and blue cap is above the table, and a white heater is below the window.", "global_instruction_dense": "The right robotic arm moves toward the silver keys on the wooden side table, grasps them, lifts and moves them to the windowsill to release them, then moves to grasp the keys from the windowsill, carries them to the side table, and releases them onto the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 276, "tasks": ["place tool"], "length": 257, "global_instruction": "Place the red-handled screwdriver from the windowsill onto the wooden side table", "scene_description": "A light brown wooden side table against a white wall holds a white mug, white plate, and small keys. To its right is a white heater under a windowsill with small blue/red items and a red-and-blue cap, a brown sofa in the left foreground, and a robotic arm on a black table to the right.", "global_instruction_dense": "The right robotic arm reaches toward the red-handled screwdriver on the windowsill, grasps it, moves it left over the light brown wooden side table, lowers it, and releases it onto the table next to the keys.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 277, "tasks": ["place tool"], "length": 189, "global_instruction": "Pick up the orange-handled screwdriver from the side table and place it on the windowsill.", "scene_description": "A light wooden side table holds a white mug, white plate, orange-handled screwdriver, small keys, and white envelope; an adjacent extended shelf holds a yellow lemon. A brown sofa is in the left foreground, a robotic workbench is on the right, and a windowsill with a red and blue cap is in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver on the side table, grasps and lifts it, moves it to the background windowsill, and releases it onto the sill.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 278, "tasks": ["place tool"], "length": 162, "global_instruction": "Pick up the small silver keys from the wooden side table and place them onto the white plate", "scene_description": "A light wooden side table holds a white mug, white plate, and small silver keys. An attached pull-out shelf holds a yellow lemon and papers, a brown armchair is at the lower left, and a robotic arm base sits on a black table to the right, with a windowsill holding a red cap above the table.", "global_instruction_dense": "The right robotic arm moves toward the small silver keys on the wooden side table, grasps the keys with its gripper, lifts them, moves over the white plate on the table, and releases the keys onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 279, "tasks": ["place tool"], "length": 166, "global_instruction": "Place the silver key from the white plate onto the wooden table next to the yellow ball", "scene_description": "A small light brown wooden table holds a white round plate with a silver key on it, and a yellow ball sits next to the plate. A brown sofa is left of the table, a white heater sits under a window to the table's right, and a robotic arm is on a dark table at the right edge of the scene.", "global_instruction_dense": "The right robotic arm moves from off-screen above toward the white plate on the wooden table, grasps the silver key on the plate, lifts the key, moves it off the plate onto the wooden table surface next to the yellow ball, and releases the key there.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 280, "tasks": ["place tool"], "length": 687, "global_instruction": "Place the metal keys onto the white plate with the lemon and place the white cup on the wooden cabinet.", "scene_description": "A light brown wooden cabinet sits next to a brown couch, a white plate holding a yellow lemon rests on the cabinet, metal keys lie on the cabinet surface next to the plate, a white heater is under a window to the right of the cabinet, a black worktable with a robotic arm base is on the far right, and a red and blue cap sits on the window sill.", "global_instruction_dense": "The right robotic arm first moves toward the metal keys on the wooden cabinet, grasps and lifts them, places the keys onto the white plate next to the yellow lemon, then moves to the window area to pick up a white cup, carries it back to the cabinet, and sets the cup on the cabinet surface adjacent to the plate.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 281, "tasks": ["place tool"], "length": 198, "global_instruction": "Place the orange-handled screwdriver onto the small light wooden pull-out shelf next to the side table.", "scene_description": "A brown sofa is on the left. Adjacent to it, a light wooden side table holds a white plate with a yellow lemon and silver keys, a white cup rests behind the plate. A small light wooden pull-out shelf is attached to the side table, a white radiator sits under the window, a red and blue cap is on the window sill, and a robotic arm is on a dark table to the right.", "global_instruction_dense": "The right robotic gripper holds an orange-handled screwdriver, moves downward toward the small light wooden pull-out shelf next to the side table, lowers the screwdriver onto the shelf surface, releases the screwdriver, and lifts upward away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 282, "tasks": ["place tool"], "length": 196, "global_instruction": "Pick the silver key from the white plate and place it near the orange-handled screwdriver on the adjacent small wooden board.", "scene_description": "A light brown wooden platform holds a white plate with a silver key and yellow lemon, a white cup rests next to the plate. A small wooden board with an orange-handled screwdriver is adjacent to the platform, a tan sofa is below the platform, and a robotic arm base with purple lights sits on a black table to the right.", "global_instruction_dense": "The right robotic arm moves from the right side toward the white plate on the wooden platform, grasps the silver key on the plate, lifts it, moves it rightward over the small wooden board, and lowers it to place it near the orange-handled screwdriver.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 283, "tasks": ["place tool"], "length": 245, "global_instruction": "Pick the red screwdriver from the window sill and place it on the light wooden side table.", "scene_description": "A tan couch is on the left, next to a light wooden side table holding a white plate with a black-gray item and a white cup. A window sill above a white radiator holds a red screwdriver, small gray item, and pale yellow ball, with a robotic arm on a dark purple-lit table to the far right.", "global_instruction_dense": "The right robotic arm extends toward the red screwdriver on the window sill, grasps it, lifts it, moves it left over the light wooden side table, lowers it, and releases it onto the table near the white plate.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 284, "tasks": ["place tool"], "length": 235, "global_instruction": "Pick up the orange screwdriver from the side table and place it into the blue bowl on the window sill.", "scene_description": "A brown leather sofa is adjacent to a light wooden side table holding a white plate with a yellow lemon, an orange screwdriver, a small black object, and papers. A dark table with a robotic arm is to the right, and the background window sill has a blue bowl, white cup, and hats.", "global_instruction_dense": "The right robotic arm moves toward the orange screwdriver on the light wooden side table, grasps the screwdriver, lifts it, moves it over the window sill, and releases it into the blue bowl on the sill.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 285, "tasks": ["place tool"], "length": 182, "global_instruction": "Pick up the black-gray tool from the wooden edge and place it on the small shelf next to the white mug.", "scene_description": "A tan sofa is on the left, a light wooden platform next to it holds a white plate with a yellow lemon, an attached small wooden shelf holds a white mug, a window sill above has a red bottle, blue bowl and hats, a robotic arm is on the right, and a black-gray tool rests on the wooden edge between the sofa and platform.", "global_instruction_dense": "The right robotic arm moves toward the black-gray tool resting on the wooden edge between the sofa and platform, grasps the tool, lifts it, moves it over the small shelf adjacent to the white mug, lowers the tool onto the shelf, releases it, and moves away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 286, "tasks": ["place tool"], "length": 376, "global_instruction": "Place the yellow cylindrical tool from the white box into the open tool case.", "scene_description": "A wooden table holds a white printed box with an orange plastic cup, yellow cylindrical tool, and open white tool case on top; a small black and silver knob sits on the table left of the box, in a robotics lab workspace.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow cylindrical tool on the white box, grasps it, lifts it, moves it over the open tool case, lowers it, and releases it into the case.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 287, "tasks": ["place tool"], "length": 328, "global_instruction": "Pick a yellow tool from the open foam case and place it on the white cardboard box.", "scene_description": "In a robotics lab, a wooden worktable has a white cardboard box at its center, an open foam-lined case holding yellow tools on top of the box, small components (brown perforated slat, silver nut, pale yellow bottle) on the table around the box, and a right robotic arm positioned above the case, with office workstations in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the open foam case atop the white cardboard box, grasps a yellow tool inside the case, lifts the tool, moves it over the left area of the white cardboard box, lowers it, and releases it onto the box surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 288, "tasks": ["place tool"], "length": 278, "global_instruction": "Place the yellow-black tool from the open tool case onto the dark section of the worktable next to the glass panel.", "scene_description": "A wooden worktable holds a white cardboard box at its center, an open tool case with yellow components on top of the box, a red ceramic mug at the front of the table, a glass panel with handwritten text at the table's left side, and office workstations are in the background.", "global_instruction_dense": "The right robotic arm moves into the scene above the open tool case, lowers to grasp the yellow-black tool inside the case, lifts the tool and moves it left toward the glass panel, lowers the tool onto the dark table section next to the glass, and releases the tool before lifting its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 289, "tasks": ["place tool"], "length": 258, "global_instruction": "Place the blue-handled tool from the orange sofa into the compartmentalized utensil tray.", "scene_description": "An orange fabric sofa holds a light beige compartmentalized utensil tray and multiple loose tools including a blue-handled tool, with an office workspace of desks and chairs in the background.", "global_instruction_dense": "The right robotic arm enters from the top right of the frame, moves down to grasp the blue-handled tool on the orange sofa, lifts the tool, moves it left over the compartmentalized utensil tray, lowers the tool into the tray, releases it, and retracts slightly.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 290, "tasks": ["place tool"], "length": 183, "global_instruction": "Remove the blue-handled screwdriver from the black mug and place it on the table", "scene_description": "A light brown table holds a black mug (with a blue-handled screwdriver inside) on its right half, plus a small metal container and a black rectangular box resting on a white cloth at the table's far end, with a robotic arm visible in the upper right background.", "global_instruction_dense": "The right robotic gripper moves toward the black mug on the table, grasps the blue-handled screwdriver inside the mug, lifts the screwdriver out of the mug, lowers it onto the table surface, and releases it before retracting upward.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 291, "tasks": ["place tool"], "length": 127, "global_instruction": "Pick the red screwdriver from its base and place it on the wooden table.", "scene_description": "A light wooden table holds a black foreground cup, small blue cup, teal mug with black handle, red screwdriver in a blue-wood base, and red box. 3D printers and a whiteboard are in the background office space.", "global_instruction_dense": "The right robotic arm moves down toward the red screwdriver in the blue-wood base, grasps it, lifts it, moves it over the table near the small blue cup, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 292, "tasks": ["place tool"], "length": 255, "global_instruction": "Pick up the red screwdriver on the table and place it into the light teal mug.", "scene_description": "A light wooden work table holds a red screwdriver, small dark blue cup, light teal mug with a black handle, red rectangular box, and blue-orange wooden jig, with a black monitor on the left edge, 3D printers, and a whiteboard in the background.", "global_instruction_dense": "The right robotic gripper descends from above the table toward the red screwdriver, grasps the screwdriver, lifts it, moves it over the light teal mug, lowers it into the mug, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 293, "tasks": ["place tool"], "length": 192, "global_instruction": "Move the green-handled scissors from the far end of the gray table to the area near the small brown square object on the table.", "scene_description": "A gray table sits in the center, holding a purple umbrella, white grid paper sheets, a blue round container, clear plastic tray, tablet in a clear case, white tape roll, small brown square object, black pen holder with pens, red-and-white tape roll, boxes with orange and pink items, green bow, and green-handled scissors at its far end. A black office chair is against the wall below a mounted TV, with orange bags next to it, a glass-paneled door at the back, and a blue trash bin near the door.", "global_instruction_dense": "The right robotic arm moves toward the green-handled scissors at the far end of the gray table, grasps the scissors, moves them across the table to the area near the small brown square object, then releases the scissors onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 294, "tasks": ["place tool"], "length": 233, "global_instruction": "Place the blue-green scissors into the clear square container on the grey table.", "scene_description": "A grey table holds blue-green scissors, three clear square open containers, multiple tape rolls, a black pen holder, a white-framed black tablet, a folded purple umbrella, a small blue round container, and gridded white paper. A white robotic arm is at the right of the table, with a black mesh office chair, orange bags, and a wall-mounted black TV in the background, plus a door leading to an area with a blue trash bin.", "global_instruction_dense": "The right robotic arm moves toward the blue-green scissors on the grey table, grasps the scissors, lifts them, moves them over the target clear square container, and releases the scissors into the container.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 295, "tasks": ["place tool"], "length": 178, "global_instruction": "Place the blue-handled screwdriver next to the tablet on the gray table.", "scene_description": "A gray table holds assorted stationery including a blue-handled screwdriver, scissors, tape rolls, a tablet, sticker sheets, and a pen holder. A black office chair is behind the table, a TV is mounted on the wall above the chair, orange bags rest on the floor near the chair, a robotic arm is at the right edge of the table, and a glass door is in the background.", "global_instruction_dense": "The right robotic arm extends toward the blue-handled screwdriver on the upper right section of the gray table, grasps it, lifts it, moves it to the area next to the tablet on the lower part of the table, then releases the screwdriver onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 296, "tasks": ["place tool"], "length": 197, "global_instruction": "Pick up the scissors from the glass holder and place them onto the black and white notebook", "scene_description": "A gray table holds multiple items: a blue pen, black and white notebook, grid paper, blue lidded container, transparent organizer, scissors in a square glass holder, tape dispenser, red-white tape roll, dark blue cup, colorful stationery box, and green bow. A black office chair sits behind the table, a wall-mounted TV is above the chair, orange bags rest on the floor near the chair, and a glass-paneled door is in the background.", "global_instruction_dense": "The right robotic arm moves toward the scissors in the square glass holder on the gray table, grasps the scissors, lifts them out of the holder, moves over the black and white notebook, and places the scissors onto the notebook.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 297, "tasks": ["place tool"], "length": 220, "global_instruction": "Place the blue-handled screwdriver into the black mug on the table", "scene_description": "A grey table holds a blue-handled screwdriver, black mug, white tablet, tape rolls, notebooks, purple umbrella, small blue container, and other stationery. A black office chair is behind the table, orange bags sit below a wall-mounted TV, and a glass door is in the background.", "global_instruction_dense": "The right robotic gripper moves toward the blue-handled screwdriver on the grey table, grasps the screwdriver, lifts it, moves it over the black mug, and places it inside the mug.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 298, "tasks": ["place tool"], "length": 141, "global_instruction": "Pick up the blue-handled screwdriver from the black cup and place it on the grey table.", "scene_description": "A grey table holds items including a black cup on a white tablet, green-handled scissors, tape rolls, decorative bows, a purple marker, a box with an orange object on top, transparent organizers, and a purple pouch. A black office chair, orange bags, a wall-mounted TV, and a glass door are in the background, with a robotic arm on the table's right side.", "global_instruction_dense": "The right robotic gripper moves toward the black cup on the grey table, grasps the blue-handled screwdriver inside the cup, lifts the screwdriver, moves it to an empty spot on the table, and releases the screwdriver onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 299, "tasks": ["place tool"], "length": 145, "global_instruction": "Pick the blue tool from the clear container and place it on the grey tabletop", "scene_description": "A grey table holds various items: a clear storage tray on the left, purple cloth, white grid paper, a clear container with a blue tool inside, green-handled scissors, a black cup on a white base, a printed box, a dark tumbler, small gift bows, a screwdriver, and a red-and-white tape roll. A black office chair, orange bags, a wall-mounted TV, and a wooden door are in the background, with a robotic arm positioned at the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the clear container, grasps the blue tool inside it, lifts the tool out of the container, and places it on the adjacent grey tabletop.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 300, "tasks": ["place tool"], "length": 374, "global_instruction": "Place the blue-green handled scissors into the clear square container on the table.", "scene_description": "A table covered with a grey tablecloth holds various objects including a pair of blue-green handled scissors, a pair of green handled scissors, pens, a black cup, clear storage containers, white sticker sheets, tape rolls, and decorative bows. A black mesh office chair, wall-mounted TV, and orange bags are positioned behind the table, with a door and blue trash bin in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue-green handled scissors on the table, repeatedly adjusts and pushes the scissors to position it, grasps and lifts the scissors, moves it over the clear square container, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 301, "tasks": ["place tool"], "length": 194, "global_instruction": "Remove the green and blue tool from the transparent container and place it on the gray table.", "scene_description": "A gray table holds various items including a black cup, blue markers, blue tape, green scissors, a black notebook, a stack of books with an orange bottle atop, CDs, decorative gold and red bows, a screwdriver, a transparent container with a green and blue tool inside, a purple pouch, and a clear plastic organizer. A black office chair is behind the table, a wall-mounted TV is above the chair, orange bags sit near a wooden door, and a robotic arm is positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm moves left toward the transparent container at the center of the gray table, grasps the green and blue tool inside the container, lifts the tool out of the container, moves rightward over the table, and releases the tool onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 302, "tasks": ["place tool"], "length": 259, "global_instruction": "Place the small blue-green handled scissors into the black mug on the table.", "scene_description": "A grey cloth-covered office table holds a black mug, two pairs of blue-green handled scissors, two blue pens, a transparent multi-slot card holder, a purple cloth, a stack of white label sheets, a transparent supply box, blue circular tape, multiple white tape rolls, golden decorative bows, a red tape dispenser, and a black book with an orange cover. A black office chair is behind the table, orange bags are next to the chair, a TV is mounted on the wall, and a blue trash bin sits outside the glass partition.", "global_instruction_dense": "The right robotic arm enters from the right of the frame, lowers to grasp the small blue and green handled scissors on the table, lifts the scissors, moves them over the black mug, then releases the scissors into the mug.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 303, "tasks": ["place tool"], "length": 248, "global_instruction": "Pick up the green-handled scissors and place them on the table near the blue pen.", "scene_description": "A gray table holds green-handled scissors on a black-and-white notebook, blue pens, a purple umbrella, clear plastic organizers, tape rolls, a black mug, books, a small clear container, and decorative bows. A black office chair sits behind the table, orange bags are on the floor near a wall-mounted TV, and a robotic arm is at the right of the table.", "global_instruction_dense": "The right robotic arm moves left toward the green-handled scissors on the notebook, grasps the scissors, lifts and moves them to the table area near the blue pen, then lowers and releases the scissors onto the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 304, "tasks": ["place tool"], "length": 237, "global_instruction": "Place the blue-green handled scissors on the grey table into the black pen holder.", "scene_description": "A grey table holds various stationery items: a purple umbrella, transparent storage organizer, blue pen, green-handled scissors, black pen holder with a white marker, multiple white tape rolls, gold and red decorative bows, a small white container, blue circular object, black stapler, book with a red tape spool on top, white paper pad, and a framed photo. A black mesh office chair sits behind the table, orange bags are on the floor beside the chair, a TV is mounted on the wall above the chair, a wooden glass door is at the back right, a blue trash bin is near the door, and a robotic arm is at the far right edge of the frame.", "global_instruction_dense": "The right robotic arm moves from the right edge of the frame toward the blue-green handled scissors on the grey table, grasps the scissors, lifts them, moves them over the black pen holder on the table, and releases the scissors into the pen holder.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 305, "tasks": ["place tool"], "length": 314, "global_instruction": "Pick up a green-handled scissor from the table and place it into the transparent container on the table.", "scene_description": "A grey fabric-covered table holds items including two green-handled scissors, blue pens, a black cup, multiple tape reels, red and gold decorative bows, a transparent acrylic organizer, a folded purple cloth, and white gridded sticker sheets. A black office chair is behind the table against a white wall with a mounted TV, and orange bags are near a wooden door in the background.", "global_instruction_dense": "The right robotic arm moves toward a green-handled scissor on the grey table, grasps the scissor, lifts it, moves it left over the transparent tape container, lowers it, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 306, "tasks": ["place tool"], "length": 296, "global_instruction": "Take the green-handled scissors from the small clear supply organizer and place them on the table next to the other pair of green-handled scissors.", "scene_description": "A table covered with a grey tablecloth holds a clear acrylic organizer on the left, purple cloth, white label sheets, a headphone on a white stand, blue pen, blue utility knife, green-handled scissors, a small clear supply organizer with small items inside, black cup, decorative gold and red bows, multiple white tape rolls, a red spool on a black product box, and a clear plastic part. In the background, a black mesh office chair sits against a white wall with a mounted black TV, orange bags are near the wooden-framed glass door, and a blue trash bin is visible in the adjacent hallway.", "global_instruction_dense": "The right robotic gripper moves from the right edge toward the small clear supply organizer on the grey table, grasps the green-handled scissors inside the organizer, lifts the scissors, moves them rightward across the table, and releases them next to the other pair of green-handled scissors already on the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 307, "tasks": ["place tool"], "length": 208, "global_instruction": "Place the blue scissors with green finger loops into the clear square container on the table.", "scene_description": "A gray table holds a blue pen, two pairs of green-handled scissors, a black cup, a stapler, white tape rolls, red and gold bows, a clear square container, a slotted clear tray, a purple cloth, white sticker sheets, a headphone stand, and a box with red tape. A black office chair and orange bags are against the wall under a mounted TV, with a door in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue green-handled scissors on the gray table, grasps them, lifts and moves them over the clear square container, then releases the scissors into the container.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 308, "tasks": ["place tool"], "length": 220, "global_instruction": "Place the green-and-blue handled scissors into the black mug on the table", "scene_description": "A gray cloth-covered table holds green-handled scissors, a black tape dispenser, a black mug, notebooks, a purple umbrella, a clear organizer, tape rolls, decorative bows, and a red spool on a box. A black office chair, wall-mounted TV, and orange bags sit near a glass door with a blue trash bin outside.", "global_instruction_dense": "The right robotic arm enters from the right of the frame, moves toward the green-and-blue handled scissors on the table, grasps the scissors, lifts it, moves it over the black mug, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 309, "tasks": ["place tool"], "length": 195, "global_instruction": "Place the blue scissors from the black mug onto the white tablet on the table", "scene_description": "A grey table covered with a grey cloth holds multiple objects: a clear plastic organizer on the left, a purple folded cloth, white grid paper sheets, a white tablet with a black screen, green-handled scissors, a black tape dispenser, white tape rolls, gold decorative bows, a black mug with blue and green scissors inside, and a book stack with a red-decorated item on top. A black mesh office chair, orange bags, and a wall-mounted TV are behind the table, with a wooden door and blue trash bin in the background.", "global_instruction_dense": "The right robotic arm enters the scene from the right, moves toward the black mug on the table, grasps the blue scissors inside the mug, lifts the scissors, moves left over the white tablet, and places the scissors onto the tablet surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 310, "tasks": ["place tool"], "length": 165, "global_instruction": "Place the blue scissors from the black pen holder onto the grey table", "scene_description": "A grey table covered with a grey cloth holds a black pen holder with pens and blue scissors, green-handled scissors, markers, a tape roll, clear plastic organizer, white paper sheets, a purple umbrella, a snack box with red contents, and small decorative bows. A black office chair sits behind the table, a TV is mounted on the wall, and orange bags are placed near the wooden door in the background.", "global_instruction_dense": "The right robotic arm moves toward the black pen holder on the grey table, grasps the blue scissors inside the holder, lifts the scissors out of the holder, moves it leftward, and releases it onto the table surface next to the green-handled scissors.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 311, "tasks": ["place tool"], "length": 238, "global_instruction": "Pick the blue-handled scissors from the transparent tray and place them on the grey table.", "scene_description": "A grey table holds various objects including a purple umbrella, a green-handled pair of scissors, a transparent tray with a blue-handled pair of scissors, a white tablet, a black mug, a tape dispenser, tape rolls, colorful decorative bows, and an orange cloth. A black office chair, wall-mounted TV, and orange floor bags are behind the table, with a door in the background.", "global_instruction_dense": "The right robotic arm moves toward the transparent tray on the grey table, grasps the blue-handled scissors inside the tray, lifts the scissors, moves them to an empty spot on the table beside the green-handled scissors, then releases the scissors onto the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 312, "tasks": ["place tool"], "length": 348, "global_instruction": "Place the green-handled scissors on the table into the black cylindrical cup.", "scene_description": "A table covered with a grey tablecloth holds green-handled scissors, a black cylindrical cup, a purple umbrella, tape rolls, clear containers, and small tools. A white robotic arm is positioned at the right side of the table, with a black office chair, orange bags, and a wall-mounted TV in the background.", "global_instruction_dense": "The right robotic gripper moves toward the green-handled scissors on the table, grasps them, lifts and moves them over the black cylindrical cup, then releases the scissors into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 313, "tasks": ["place tool"], "length": 190, "global_instruction": "Take the green scissors from the black cup and place them on the table.", "scene_description": "A grey cloth-covered table holds a purple umbrella, a black cup on a white tablet, a clear supply container, blue tape, a black tape dispenser, and small decorative bows. A white robotic arm is at the table's right, a black office chair sits behind the table, and a TV is mounted on the wall above the chair.", "global_instruction_dense": "The right robotic arm moves toward the black cup on the table, grasps the green scissors inside the cup, lifts the scissors, moves them to an empty area of the table, and releases the scissors onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 314, "tasks": ["place tool"], "length": 210, "global_instruction": "Place the blue-green scissors into the transparent storage container on the table", "scene_description": "A gray table covered with a gray tablecloth holds a purple umbrella, a black mug on a white pad, a transparent storage container, blue-green scissors, blue tape, white tape rolls, decorative bows, and a black tray with a white object. A black office chair sits behind the table, orange bags are next to the chair, a TV is mounted on the wall, and a glass door is in the background, with a right robotic arm at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the blue-green scissors on the gray table, grasps them with its gripper, lifts the scissors, moves them over the transparent storage container, lowers the scissors, and releases them into the container.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 315, "tasks": ["place tool"], "length": 211, "global_instruction": "Place the green scissors on the table into the transparent plastic container", "scene_description": "A table covered with a grey cloth holds a purple umbrella, black headphones on a white pad, a black cup, green scissors, small colorful decorative bows, rolls of tape, a transparent plastic container, and orange cloth items. A black mesh office chair is behind the table, a TV is mounted on the wall above the chair, and orange bags are near the wooden door in the background, with a blue trash bin outside the glass partition to the right.", "global_instruction_dense": "The right robotic arm enters the scene from the right side, moves toward the green scissors on the table, grasps them, lifts and moves them to the transparent plastic container, then places the scissors inside the container.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 316, "tasks": ["place tool"], "length": 197, "global_instruction": "Place the blue-handled tool on the table into the clear plastic organizer.", "scene_description": "A table covered with grey cloth holds crafting supplies including scissors, tape rolls, decorative bows, a clear plastic organizer, purple cloth, and a black cylinder, with a black office chair, orange bags, and a wall-mounted TV in the background.", "global_instruction_dense": "The left robotic arm moves toward the blue-handled tool on the grey table, grasps it, lifts it, moves it over the clear plastic organizer, lowers it, and releases it into the organizer.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 317, "tasks": ["place tool"], "length": 428, "global_instruction": "Pick up the purple-handled scissors and reposition them on the light wooden table.", "scene_description": "A light wooden table holds a purple-handled pair of scissors, a glass pot lid with a black knob, a white rice cooker, a grey ceramic mug, and small packaged items. A white robotic arm is mounted on a workbench to the right of the table, with two wooden chairs behind the table, an open door, and a brown sofa in the background.", "global_instruction_dense": "The left robotic gripper moves from its initial raised position down toward the purple-handled scissors on the table, grasps the scissors, lifts and moves them to a new spot on the table near the glass pot lid, lowers the scissors, releases them, and lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 318, "tasks": ["place tool"], "length": 240, "global_instruction": "Pick up the orange and black tool from the desk, move it over the sofa, then place it back on the desk.", "scene_description": "A black desk holds a white desk lamp, stacked papers, a mouse, a pink octopus plush atop a green box, a black keyboard, a black monitor, a yellow bottle, and a small blue device, with a grey sofa in the background and a white robotic arm on the desk's right side.", "global_instruction_dense": "The left robotic gripper descends to grasp the orange and black tool on the black desk, lifts it, moves it right over the grey sofa, then moves back left and places the tool back onto the desk.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 319, "tasks": ["place tool"], "length": 377, "global_instruction": "Place the orange-handled scissors onto the lid of the lower light blue bowl on the kitchen counter.", "scene_description": "A kitchen counter holds assorted condiment bottles, an orange-handled scissors, multiple bowls, a blue knife, and a salt container; a black stove sits to the left of the counter, with light wood upper cabinets above.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled scissors on the kitchen counter, grasps it, drags it leftward across the counter, and releases it onto the lid of the lower light blue bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 320, "tasks": ["place tool"], "length": 317, "global_instruction": "Move the blue-lit electronic tool from the right of the work surface to a left position near the container.", "scene_description": "A dark work surface in low purple lighting holds a purple container at the center, a small blue-lit electronic tool at the right, and a robotic gripper with a long rod above the container, with scattered cables in the background.", "global_instruction_dense": "The right robotic gripper moves toward the small blue-lit electronic tool on the right of the dark work surface, grasps and lifts it, then moves it left to a new position near the purple container on the work surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 321, "tasks": ["place tool"], "length": 199, "global_instruction": "Place the red-handled screwdriver into the blue cup", "scene_description": "A black lab table holds a red-handled white-shaft screwdriver, a blue cup, a Rubik's cube, and a purple water bottle, with a robotic arm positioned above the table.", "global_instruction_dense": "The left robotic arm lowers toward the red-handled screwdriver on the black table, grasps it, lifts and moves it over the blue cup, then lowers and releases the screwdriver into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 322, "tasks": ["place tool"], "length": 171, "global_instruction": "Pick up the silver-black cylindrical tool from the rear workbench and place it on the front workbench surface.", "scene_description": "A light wooden workbench holds a red-and-black toolbox on its left, scattered black wires, a white ceramic mug, a small gold sphere, a grey tool plate with small tools, and filament spools are mounted on the wall above the bench. A robotic arm sits at the upper rear of the bench.", "global_instruction_dense": "The right robotic arm moves downward from the upper rear of the workbench, grasps the silver and black cylindrical tool, moves forward over the front part of the workbench, and releases the tool onto the workbench surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 323, "tasks": ["place tool"], "length": 155, "global_instruction": "Take a tool from the white mug and place it on the workbench.", "scene_description": "A light wooden workbench holds a red and black toolbox on the left, a white mug, scattered cables and small tools, with component storage drawers on the far left, cable spools mounted on the wall above the bench, and a robotic arm at the upper right.", "global_instruction_dense": "The right robotic gripper moves toward the white mug on the workbench, grasps a tool inside the mug, lifts the tool out of the mug, moves it over the workbench surface, lowers it, and releases it onto the workbench.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 324, "tasks": ["place tool"], "length": 136, "global_instruction": "Remove the tool from the white mug and place it on the workbench surface.", "scene_description": "A red and black toolbox is on the left of a wooden workbench, a white mug is near the center-right of the workbench, a robotic arm is positioned above the mug, with scattered tools, cables, and 3D filament spools on a wall shelf in the background.", "global_instruction_dense": "The right robotic gripper lowers into the white mug, grasps the metallic tool inside, lifts it out of the mug, moves it left over the workbench, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 325, "tasks": ["place tool"], "length": 170, "global_instruction": "Pick up the silver and black tool from the rear of the workbench and place it on the front workbench surface.", "scene_description": "A light wooden workbench holds a red and black tool case on its left, a white mug on its right rear section, scattered cables, small tools, and tiny components. A robotic arm is positioned at the far rear of the bench.", "global_instruction_dense": "The right robotic arm moves down from the rear of the workbench, grasps the silver and black cylindrical tool, moves it forward over the workbench, and releases it to place it on the front section of the workbench.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 326, "tasks": ["place tool"], "length": 182, "global_instruction": "Remove the black tool from the white mug and place it on the workbench.", "scene_description": "A light wooden workbench holds a red and black toolbox on the left, a white mug with a black tool inside, scattered cables, small tools, and a gold spherical object, with a robotic arm above the bench and a gray drawer storage unit to the far left of the bench.", "global_instruction_dense": "The right robotic arm moves down toward the white mug on the workbench, grasps the black tool inside the mug, lifts the tool out of the mug, moves the tool to the right of the mug, and lowers it to place it on the workbench surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 327, "tasks": ["place tool"], "length": 164, "global_instruction": "Take the black-handled tool out of the white cup and place it on the workbench.", "scene_description": "A light-colored workshop workbench has a large red and black toolbox on its left, a white plastic cup holding a black-handled tool near the center, scattered cables, small tools and parts across the surface, a white-gray robotic arm positioned above the right side of the bench, and 3D printer filament spools and lab equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the white cup on the workbench, grasps the black-handled tool inside the cup, lifts it out of the cup, moves it to the adjacent workbench surface, and releases the tool to place it on the bench.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 328, "tasks": ["place tool"], "length": 183, "global_instruction": "Place the silver and black cylindrical tool into the white plastic cup on the workbench.", "scene_description": "A light wooden workbench holds a red and black hard toolbox on the left, a white plastic cup near the center, a silver and black cylindrical tool to the right of the cup, assorted loose wires, electronic parts, a gold bell, and blue supplies. Stacked gray parts drawers are to the far left of the workbench, and 3D printing filament spools are mounted on the wall above the bench.", "global_instruction_dense": "The right robotic arm enters the frame from the upper right, moves down to grasp the silver and black cylindrical tool on the workbench, lifts the tool, moves it over the white plastic cup, lowers the tool, and releases it inside the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 329, "tasks": ["place tool"], "length": 167, "global_instruction": "Take the black-handled tool out of the white plastic cup and place it on the workbench.", "scene_description": "A wooden workbench holds a red-and-black hard tool case on its left half, assorted wires and small components, and a white plastic cup with a black-handled tool inside on its right half. 3D printing filament spools are mounted on the wall above the workbench.", "global_instruction_dense": "The right robotic arm moves toward the white plastic cup on the workbench, grasps the black-handled tool inside the cup, lifts the tool out of the cup, moves it to an empty spot on the workbench, and releases the tool onto the workbench surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 330, "tasks": ["place tool"], "length": 222, "global_instruction": "Pick up the silver cylindrical tool on the workbench and place it into the white plastic cup", "scene_description": "A wooden workbench holds a red and black hard toolbox on the left, a silver cylindrical tool near the center, a white plastic cup to the right of the tool, scattered cables, small hardware, and a gold spherical object, with wire spools mounted on the wall above the bench, and a robotic arm initially out of frame.", "global_instruction_dense": "The right robotic arm moves from off-frame above the workbench, grasps the silver cylindrical tool on the workbench surface, lifts the tool, moves it horizontally over the adjacent white plastic cup, lowers the tool into the cup, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 331, "tasks": ["place tool"], "length": 213, "global_instruction": "Remove the black-handled screwdriver from the striped mug and place it on the table.", "scene_description": "A light wooden table holds a silver metal bowl with shiny small contents on the left, a white mug with two orange stripes (holding a black-handled screwdriver) to the bowl's right, a remote control further back, and a right robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm first releases small items onto the rear of the table, then moves downward to grasp the black-handled screwdriver inside the orange-striped white mug, lifts the screwdriver out of the mug, moves it above the adjacent table surface, and releases the screwdriver onto the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 332, "tasks": ["place tool"], "length": 204, "global_instruction": "Remove the green-handled tool from the white-and-orange striped cup and place it on the worktable.", "scene_description": "A light wooden worktable holds a silver metal bowl with small metallic contents, a black remote control, a set of keys, and a white-and-orange striped cup containing a green-handled tool, with a dark multi-drawer tool chest, red rolling tool cabinet, and office workstations in the background.", "global_instruction_dense": "The right robotic arm moves toward the white-and-orange striped cup on the worktable, grasps the green-handled tool inside the cup, lifts the tool out of the cup, moves it to the empty worktable surface beside the cup, lowers the tool, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 333, "tasks": ["place tool"], "length": 106, "global_instruction": "Take the green-handled tool out of the orange-and-white striped cup and place it on the wooden table.", "scene_description": "A light wooden table holds a metallic silver bowl on the left (with small shiny items inside), a remote control and a set of keys in the middle, and a white cup with two orange stripes on the right (holding a green-handled tool). A robotic arm is positioned above the cup.", "global_instruction_dense": "The right robotic gripper moves toward the striped cup, grasps the green-handled tool inside it, lifts the tool out of the cup, moves leftward, and places the tool on the wooden table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 334, "tasks": ["place tool"], "length": 179, "global_instruction": "Take the green-handled screwdriver out of the white-orange striped cup and place it on the worktable.", "scene_description": "A light wood worktable holds a silver metal bowl (left), black remote control, key set, and a white cup with orange stripes containing a green-handled screwdriver. A dark multi-drawer tool chest sits behind the table, a red rolling tool cabinet is to the right of the dark chest, and office workstations are in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white and orange striped cup, grasps the green-handled screwdriver inside the cup, lifts it out, lowers it to the worktable surface, and releases it to place it on the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 335, "tasks": ["place tool"], "length": 146, "global_instruction": "Place the green-handled screwdriver from the orange striped cup onto the work table surface.", "scene_description": "A light wooden work table holds a metal bowl with small shiny parts at the front left, a black stand with yellow-handled hex keys left of center, small loose parts between the stand and an orange-and-white striped cup at the right side of the table which contains a green-handled screwdriver. A dark multi-drawer tool chest, red rolling cabinet, and office workstations are visible in the background, with a robotic arm at the top right edge of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the orange and white striped cup on the table, grasps the green-handled screwdriver inside the cup, lifts the screwdriver out of the cup, moves it slightly to the right, lowers it onto the table surface, and releases it to complete the placement.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 336, "tasks": ["place tool"], "length": 148, "global_instruction": "Take the silver metal tool out of the dark brown paper cup and place it on the brown cardboard box", "scene_description": "A light wood worktable holds a green C-shaped object, a white lidded cup, a maroon hardcover book, a brown cardboard box, and a dark brown paper cup with a silver metal tool inside it on top of the box, with workshop shelves, a black office chair, and robotic equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the dark brown paper cup on the brown cardboard box, grasps the silver metal tool inside the cup, lifts the tool out of the cup, moves it over the adjacent surface of the cardboard box, lowers the tool, and releases it onto the box.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 337, "tasks": ["place tool"], "length": 198, "global_instruction": "Place the blue handheld heat gun onto the blue square electrical device on the workbench.", "scene_description": "A laboratory work area has a left wooden workbench holding a blue handheld heat gun, a blue square electrical control device, assorted wires and small tools, with a left robotic arm positioned above the left workbench and a right robotic arm mounted on the right worktable.", "global_instruction_dense": "The left robotic arm lowers toward the blue handheld heat gun on the wooden workbench, grasps it, lifts it, moves it over the blue square electrical device, lowers the heat gun, and places it on top of the blue square device.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 338, "tasks": ["place tool"], "length": 149, "global_instruction": "Place the blue heat gun onto the empty area of the wooden workbench.", "scene_description": "A light wooden workbench holds a blue heat gun, a purple power control unit, scattered electrical cables, and small tools, with grid-style parts storage panels mounted on the left wall, and a stationary white robotic arm on a right-side metal workbench.", "global_instruction_dense": "The left robotic arm descends toward the blue heat gun positioned next to the purple power control unit on the workbench, grasps the heat gun with its gripper, lifts the heat gun, moves it to an empty spot on the workbench, lowers it, and releases it onto the workbench surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 339, "tasks": ["place tool"], "length": 218, "global_instruction": "Pick up the blue handheld tool on the workbench and place it onto the blue power supply unit.", "scene_description": "A wooden lab workbench holds a blue handheld tool, a blue square power supply unit, and scattered cables, with white robotic arms positioned to the right of the workbench and component storage racks on the left wall.", "global_instruction_dense": "The left robotic arm moves toward the blue handheld tool on the workbench, grasps it with its gripper, lifts it, moves it over the blue power supply, and lowers it to place the tool onto the power supply.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 340, "tasks": ["place tool"], "length": 148, "global_instruction": "Place the blue heat gun from the blue power unit onto the wooden workbench surface.", "scene_description": "A wooden lab workbench has a blue heat gun resting on a blue power supply unit, with scattered cables and small tools on its surface. A white left robotic arm is positioned above the workbench at the right of the view.", "global_instruction_dense": "The left robotic arm moves downward toward the blue heat gun on the blue power unit, grasps the heat gun, lifts and moves it to the front of the workbench, then releases it onto the workbench surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 341, "tasks": ["place tool"], "length": 359, "global_instruction": "Place the blue heat gun on the workbench onto the blue square power supply unit.", "scene_description": "A wooden workbench holds a blue handheld heat gun, a blue square power supply unit, assorted electrical cables and small tools. A white robotic arm is positioned above the right side of the workbench.", "global_instruction_dense": "The left robotic arm moves down toward the blue heat gun on the workbench, grasps it with its gripper, lifts the heat gun, moves it leftward over the blue square power supply, lowers it onto the power supply, then releases the heat gun.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 342, "tasks": ["place tool"], "length": 201, "global_instruction": "Pick the blue heat gun from the power supply and place it on the wooden workbench surface.", "scene_description": "A wooden lab workbench holds a blue power supply with a blue heat gun resting on top, scattered cables and tools, and a stationary white robotic arm on the right work area.", "global_instruction_dense": "The left robotic arm descends from its initial elevated position, grasps the blue heat gun on the blue power supply, lifts and moves it over the workbench, then releases it onto the wooden workbench surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 343, "tasks": ["place tool"], "length": 210, "global_instruction": "Pick up the blue heat gun and place it onto the blue square power supply", "scene_description": "A wooden workbench holds a blue handle heat gun, a square blue power supply, a small golden bell, and scattered cables. A left robotic arm is positioned above the bench, and a right robotic arm is stationary on the right side of the bench.", "global_instruction_dense": "The left robotic arm moves downward toward the blue heat gun on the workbench, grasps it with its gripper, lifts and moves it over the blue square power supply, then lowers and releases it onto the power supply.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 344, "tasks": ["place tool"], "length": 183, "global_instruction": "Pick up the blue heat gun from the blue power supply and place it onto the wooden workbench surface.", "scene_description": "A wooden workbench holds a blue heat gun resting on a blue power supply, a golden bell, assorted cables, and small tools. A white right robotic arm is positioned above the right side of the workbench.", "global_instruction_dense": "The right robotic arm moves from its initial upper right position toward the blue heat gun resting on the blue power supply on the left of the workbench, grasps the heat gun, lifts it, moves it downward over the lower workbench surface, and releases it onto the flat wooden workbench.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 345, "tasks": ["place tool"], "length": 241, "global_instruction": "Pick up the blue heat gun and place it next to the blue power supply unit on the workbench.", "scene_description": "A wooden workbench holds a blue heat gun, a blue square power supply unit, a golden bell, assorted wires, and small tools. A white robotic arm is positioned in the upper right of the frame above the workbench.", "global_instruction_dense": "The left robotic arm moves from its starting position above the right of the workbench toward the blue heat gun, grasps the heat gun, lifts it, moves it left across the workbench, and places it adjacent to the blue square power supply unit.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 346, "tasks": ["place tool"], "length": 166, "global_instruction": "Pick up the blue heat gun on the workbench and place it at a new position on the same workbench.", "scene_description": "A light wooden workbench holds a blue heat gun, blue electronic control box, gold service bell, and assorted loose wires and small tools. A left robotic arm is raised above the workbench, and a stationary white right robotic arm rests on a side workbench to the right.", "global_instruction_dense": "The left robotic arm moves downward from its raised starting position toward the blue heat gun on the main workbench, grasps the heat gun with its gripper, lifts and shifts the heat gun leftward across the workbench, then lowers and releases it onto the workbench near the gold service bell.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 347, "tasks": ["place tool"], "length": 268, "global_instruction": "Pick up the blue heat gun on the left workbench and place it onto the blue control device.", "scene_description": "A left laboratory workbench holds a blue rectangular control device, a blue handheld heat gun, scattered wires, and small tools. A dual-arm white robotic system sits on a right table.", "global_instruction_dense": "The right robotic arm moves toward the blue heat gun on the left workbench, grasps it, lifts it, moves it over the blue control device, lowers it onto the device, and releases the heat gun.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 348, "tasks": ["place tool"], "length": 249, "global_instruction": "Pick up the blue heat gun on the workbench and place it on the blue rectangular electronic device.", "scene_description": "A laboratory workbench holds a blue rectangular electronic device on the left, a blue handheld heat gun to the right of the device, a left robotic arm above the center of the bench, and a right robotic arm on the right side of the bench, with parts organizers mounted on the background wall.", "global_instruction_dense": "The left robotic arm moves down toward the blue heat gun on the workbench, grasps it, lifts it, moves it over the blue rectangular electronic device, lowers it, and releases it onto the top of the device.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 349, "tasks": ["place tool"], "length": 256, "global_instruction": "Pick up the blue heat gun from the workbench and place it in a new position on the workbench.", "scene_description": "A wooden workbench in a robotics lab holds a blue handheld heat gun resting on a blue control unit, scattered cables, and small tools. A left robotic arm is positioned above the workbench, a fixed right robotic arm sits on a workbench to the right, and parts storage boards are mounted on the left wall.", "global_instruction_dense": "The left robotic arm moves downward from its initial position toward the blue heat gun on the left workbench, grasps the heat gun with its gripper, lifts it, moves it horizontally to a new spot on the workbench, lowers it, and releases it onto the workbench surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 350, "tasks": ["place tool"], "length": 172, "global_instruction": "Pick up a black tool from the workbench and place it on the left section of the workbench.", "scene_description": "A wooden workbench holds assorted tools including purple, green, and black pens, a blue power supply, tangled wires, a clear plastic storage box, and a small yellow tin. A left robotic arm is raised above the workbench, and a stationary right robotic arm sits on a side table to the right.", "global_instruction_dense": "The left robotic arm lowers from its initial raised position toward the workbench, closes its gripper around a long black tool, lifts the tool, moves it leftward across the workbench, lowers the tool, and releases it onto the left part of the workbench.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 351, "tasks": ["place tool"], "length": 149, "global_instruction": "Place the green-handled tool from the workbench into the clear plastic storage box.", "scene_description": "A wooden workbench in a robotics lab holds scattered tools (markers, wires, blue power supply, clear plastic storage box, green-handled tool), wall-mounted parts organizers line the left wall, a stationary white robotic arm sits on the right of the workbench, and a second white robotic arm is positioned above the back of the workbench in the first frame.", "global_instruction_dense": "The left robotic arm moves downward from its initial elevated position toward the workbench, closes its gripper around the green-handled tool resting on the workbench, lifts the tool, moves it horizontally leftward over the clear plastic storage box, and lowers it toward the box interior.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 352, "tasks": ["place tool"], "length": 513, "global_instruction": "Place the orange pair of scissors into the upper wooden kitchen cabinet.", "scene_description": "A kitchen with light wooden upper cabinets, a granite countertop holding a silver toaster, sink, faucet, and an orange pair of scissors near the left stainless steel refrigerator. A white and gray robotic arm is positioned above the counter near the cabinets.", "global_instruction_dense": "The right robotic arm first opens both doors of the upper wooden cabinet, moves down to grasp the orange scissors near the refrigerator, lifts the scissors, moves them into the open cabinet, releases the scissors inside, and retracts from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 353, "tasks": ["place tool"], "length": 193, "global_instruction": "Pick up the small black screwdriver on the tabletop and place it into the brown paper cup.", "scene_description": "A wooden tabletop holds a pale yellow rectangular block on the left, a small black screwdriver and a brown paper cup with a white rim on the right, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the small black screwdriver on the right of the tabletop, grasps the screwdriver, lifts it, moves it over the adjacent brown paper cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 354, "tasks": ["place tool"], "length": 299, "global_instruction": "Place the small white key fob on the table into the open small brown cardboard box", "scene_description": "A light wooden table has an open small brown cardboard box near its center, a small white key fob on the table in front of the box, assorted cups and green bottles behind the box, and a large sealed brown box on the right edge of the table. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic gripper moves from near the small open brown box toward the white key fob on the table, grasps the fob, lifts it, moves it over the open box, releases the fob into the box, then moves upward away from the box.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 355, "tasks": ["place tool"], "length": 257, "global_instruction": "Pick up the black-handled screwdriver from the table and place it into the white cup with the green rim.", "scene_description": "A white round table holds a black-handled screwdriver on its upper section and a white cup with a dark green rim on its lower right section, with a robotic arm positioned above the left side of the table.", "global_instruction_dense": "The right robotic arm moves toward the black-handled screwdriver on the table, grasps it with its gripper, lifts it, moves it over the white cup, releases the screwdriver into the cup, then moves away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 356, "tasks": ["place tool"], "length": 294, "global_instruction": "Pick up the orange-handled tool and place it below the red tray on the table.", "scene_description": "A white round table holds a centered red square tray, an orange-handled tool above the tray, and a clear plastic measuring cup to the right of the tray.", "global_instruction_dense": "The right robotic arm descends to grasp the orange-handled tool on the table, lifts it, moves it in an arc around the red tray, lowers the tool to place it below the tray, then lifts upward away from the placed tool.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 357, "tasks": ["place tool"], "length": 255, "global_instruction": "Remove the orange-handled tool from the clear plastic cup and place it on the white table.", "scene_description": "A white round table holds a stack of red square plates at its center, and a clear plastic cup containing an orange-handled tool to the right of the plates, with lab equipment visible in the background.", "global_instruction_dense": "The right robotic gripper moves toward the clear plastic cup on the white table, grasps the orange-handled tool inside the cup, lifts the tool out of the cup, moves it over the white table surface, and releases the tool onto the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 358, "tasks": ["place tool"], "length": 292, "global_instruction": "Take the orange-handled tool out of the measuring cup and place it on the white table.", "scene_description": "A transparent plastic measuring cup holding an orange-handled tool and a small red printed box are placed on a white round table. The measuring cup is near the table center, the red box is to its right.", "global_instruction_dense": "The right robotic arm descends toward the measuring cup, grasps the orange-handled tool inside the cup, lifts the tool out of the cup, moves it to the left of the cup, and releases it onto the white table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 359, "tasks": ["place tool"], "length": 257, "global_instruction": "Place the orange-and-white screwdriver into the red patterned ceramic cup", "scene_description": "A black worktable with a white robotic arm base secured by orange clamps is on the left. A table covered with dark blue fabric is on the right, holding an orange-and-white screwdriver, three white lace doilies, a red patterned ceramic cup, small paper cards, and a folded dark blue garment.", "global_instruction_dense": "The right robotic arm moves toward the orange-and-white screwdriver on the dark blue fabric table, grasps it with its gripper, lifts it, moves it over the red patterned ceramic cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 360, "tasks": ["place tool"], "length": 203, "global_instruction": "Take the orange-handled tool out of the red patterned cup and place it on the dark blue cloth.", "scene_description": "A robotic base sits on a black table on the left, while a table covered with dark blue cloth is on the right holding white lace doilies, a red patterned cup with an orange-handled tool inside, and small paper cards.", "global_instruction_dense": "The right robotic arm moves toward the red patterned cup on the dark blue cloth, grasps the orange-handled tool inside the cup, lifts the tool out of the cup, moves over the dark blue cloth, and releases the tool onto the cloth surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 361, "tasks": ["place tool"], "length": 188, "global_instruction": "Take the orange-handled tool out of the silver bowl and place it on the white table.", "scene_description": "A silver bowl holding an orange-handled tool rests on a white round table, with office desks, chairs and equipment in the surrounding background.", "global_instruction_dense": "The left robotic arm moves above the white table, lowers into the silver bowl to grasp the orange-handled tool, lifts the tool out of the bowl, moves it to the empty table surface, then releases the tool onto the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 362, "tasks": ["place tool"], "length": 139, "global_instruction": "Place the orange-handled tool on the table into the gray bowl", "scene_description": "A small orange-handled tool with a black tip and a round gray bowl are placed on a white round table, with an office space with desks and chairs in the background.", "global_instruction_dense": "The left robotic arm moves toward the orange-handled tool on the white table, grasps it with its gripper, lifts it, moves it over the gray bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 363, "tasks": ["place tool"], "length": 175, "global_instruction": "Take the orange-and-white tool out of the light gray bowl and place it on the white round table.", "scene_description": "A white round table is in an office setting, with a light gray bowl on its right side holding an orange-and-white tool, and office chairs and desks in the background.", "global_instruction_dense": "The left robotic arm moves toward the light gray bowl, lowers its gripper to grasp the orange-and-white tool inside the bowl, lifts the tool out of the bowl, moves it to the empty left portion of the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 364, "tasks": ["place tool"], "length": 132, "global_instruction": "Move the orange-handled screwdriver to a position closer to the gray bowl on the table.", "scene_description": "A white round table holds an orange-handled screwdriver on its left and an empty light gray bowl on its right, with office furniture in the background.", "global_instruction_dense": "The left robotic gripper moves toward the orange-handled screwdriver on the left of the white table, grasps it, lifts it, moves it rightward, and places it down closer to the gray bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 365, "tasks": ["place tool"], "length": 165, "global_instruction": "Take the orange-handled tool out of the silver bowl and place it on the white round table.", "scene_description": "A white round table holds a silver bowl containing an orange-handled small tool, in an office with desks, office chairs and supplies in the background.", "global_instruction_dense": "The left robotic gripper moves toward the silver bowl on the white table, lowers into the bowl to grasp the orange-handled tool inside, lifts the tool out of the bowl, moves it to the empty area of the table, and places it on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 366, "tasks": ["place tool"], "length": 145, "global_instruction": "Remove the green-handled screwdriver from the clear plastic cup and place it on the white table.", "scene_description": "A white table holds a roll of gray tape, a clear plastic cup with a green-handled screwdriver inside, and a dark blue fabric piece; a light brown wooden table is behind the white table, and a robotic arm base with blue indicator lights is to the left of the white table.", "global_instruction_dense": "The right robotic gripper moves toward the clear plastic cup on the white table, lowers into the cup to grasp the green-handled screwdriver, lifts the screwdriver out of the cup, moves over the table surface, and releases the screwdriver onto the white table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 367, "tasks": ["place tool"], "length": 194, "global_instruction": "Place the green-handled screwdriver into the clear plastic cup on the table.", "scene_description": "A white table holds a grey duct tape roll, green-handled screwdriver, clear plastic cup, navy blue garment, red garment, and small brown fabric piece, with a robotic arm at the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the green-handled screwdriver on the white table, grasps it, lifts it, moves it over the clear plastic cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 368, "tasks": ["place tool"], "length": 163, "global_instruction": "Remove the green-handled tool from the clear plastic container and place it on the white table", "scene_description": "A white table is placed between two wooden tables; on the white table, there is a roll of gray tape, a small beige cube, a folded red cloth, a folded dark blue cloth, and a clear plastic container with a green-handled tool inside; a robotic arm base is visible to the left of the white table.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic container on the white table, lifts the container's lid, grasps the green-handled tool inside, lifts the tool out of the container, and places it on the surface of the white table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 369, "tasks": ["place tool"], "length": 295, "global_instruction": "Pick up the screwdriver, place it into the cup, then set it back on the table.", "scene_description": "A white table holds a gray tape roll, a black-and-white screwdriver, a green-rimmed white cup, a dark blue cloth, and a red cloth, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the screwdriver on the table, grasps it, lifts it, moves it over the green-rimmed cup, lowers it into the cup, moves it inside the cup, lifts it out, then lowers and releases it back onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 370, "tasks": ["place tool"], "length": 149, "global_instruction": "Pick up the small black screwdriver and place it into the white mug.", "scene_description": "A white table holds a small black screwdriver, a white mug with green trim covered by a white lid, a dark blue garment, a red garment, and a roll of gray tape, with a robotic arm positioned left of the table.", "global_instruction_dense": "The left robotic arm moves toward the small black screwdriver on the white table, grasps and lifts it, moves it over the open white mug, then releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 371, "tasks": ["place tool"], "length": 132, "global_instruction": "Pick up the orange-tipped screwdriver from the plate and place it on the table next to the gray tape roll.", "scene_description": "A white table holds a roll of gray tape, a black-rimmed beige plate with an orange-tipped screwdriver inside, a dark blue cloth, a red cloth, and a small beige fabric piece, with a robotic arm positioned left of the table.", "global_instruction_dense": "The left robotic arm moves toward the orange-tipped screwdriver in the black-rimmed plate on the white table, grasps the screwdriver, lifts it, moves it to the area next to the gray tape roll, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 372, "tasks": ["place tool"], "length": 149, "global_instruction": "Place the orange-handled screwdriver into the shallow bowl on the white table.", "scene_description": "A white table holds a roll of gray tape, an orange-handled screwdriver, a beige square cloth, a red folded cloth, a dark blue folded cloth, and a shallow bowl with black rim and light yellow interior, adjacent to a light brown wooden table, with a robotic arm on the left of the frame.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver on the white table, grasps it, lifts it, moves it over the shallow bowl, then releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 373, "tasks": ["place tool"], "length": 151, "global_instruction": "Place the orange-handled screwdriver from the bowl onto the white table next to the gray tape", "scene_description": "A white table holds a beige bowl with an orange-handled screwdriver inside, a roll of gray tape, a small beige block, a folded red cloth, and a folded dark blue cloth. A robotic arm is positioned on the left of the scene, with a light brown table in the background.", "global_instruction_dense": "The right robotic arm moves toward the beige bowl on the white table, grasps the orange-handled screwdriver inside the bowl, lifts the screwdriver, moves it to the area near the gray tape, and releases it onto the white table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 374, "tasks": ["place tool"], "length": 138, "global_instruction": "Place the orange-handled screwdriver into the black-rimmed beige bowl.", "scene_description": "A white table holds gray duct tape, an orange-handled screwdriver, a black-rimmed beige bowl, a dark blue folded cloth, a red folded cloth, and two small brown paper pieces, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the orange-handled screwdriver on the white table, grasps the screwdriver, lifts it, moves it over the black-rimmed beige bowl, and releases it to drop the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 375, "tasks": ["place tool"], "length": 162, "global_instruction": "Place the orange-capped screwdriver into the beige bowl with the black rim.", "scene_description": "A white table holds gray duct tape, a beige bowl with a black rim, an orange-capped screwdriver, a dark blue cloth, a red cloth, and a small beige square; a light brown table with miscellaneous supplies sits in the background, and a robotic arm is positioned to the left of the white table.", "global_instruction_dense": "The right robotic arm moves toward the orange-capped screwdriver on the white table, grasps it, lifts it, moves it over the beige bowl with black rim, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 376, "tasks": ["place tool"], "length": 147, "global_instruction": "Remove the orange-handled screwdriver from the dish and place it on the white table.", "scene_description": "A white table holds a roll of gray duct tape, a black-rimmed shallow dish with an orange-handled screwdriver, a beige paper bag, a red cloth, and a dark blue cloth. A robotic arm is to the left of the table, with its gripper resting on the light brown table behind the white table which has miscellaneous items.", "global_instruction_dense": "The right robotic gripper moves from the rear light brown table toward the dish on the white table, lowers into the dish to grasp the orange-handled screwdriver, lifts the screwdriver out of the dish, and releases it onto the white table surface near the dark blue cloth.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 377, "tasks": ["place tool"], "length": 147, "global_instruction": "Place the orange-handled screwdriver into the black-rimmed bowl on the white table.", "scene_description": "A white table holds a black-rimmed light-yellow interior bowl, an orange-handled screwdriver, a brown paper bag, and a dark blue cloth. A light brown table behind it has a red cloth and a gray tape roll, with a robotic arm on the left of the setup.", "global_instruction_dense": "The right robotic arm moves down to grasp the orange-handled screwdriver on the white table, lifts it, moves it over the nearby black-rimmed bowl, and releases the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 378, "tasks": ["place tool"], "length": 144, "global_instruction": "Remove the orange and white screwdriver from the bowl and place it on the white table.", "scene_description": "A white table holds a beige black-rimmed bowl with an orange and white screwdriver, a dark blue cloth, and brown paper pieces; a light wood table with a red cloth and gray tape sits behind the white table, with a robotic arm positioned to the left of the white table.", "global_instruction_dense": "The left robotic arm moves toward the bowl on the white table, grasps the orange and white screwdriver inside the bowl, lifts the screwdriver out of the bowl, and places it on the surface of the white table next to the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 379, "tasks": ["place tool"], "length": 147, "global_instruction": "Place the orange-handled screwdriver into the beige bowl", "scene_description": "A white table holds a beige bowl with black rim, an orange-handled screwdriver, two light brown cardboard pieces, and a dark blue cloth. An adjacent light brown table has a red cloth, a roll of grey tape, and assorted small items, with a robotic arm positioned to the left of the tables.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver on the white table, grasps it, lifts it, moves it over the beige bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 380, "tasks": ["place tool"], "length": 169, "global_instruction": "Pick up the black-tipped screwdriver and place it into the beige bowl on the white table.", "scene_description": "A front white table holds a black-tipped screwdriver, a beige bowl, two small beige cardboard pieces, and a dark blue cloth. A light brown table behind it has a red cloth, a roll of dark tape, and small assorted items. A robotic arm is positioned to the left of the tables.", "global_instruction_dense": "The left robotic arm moves toward the black-tipped screwdriver on the white table, grasps it with its gripper, lifts it, moves it over the beige bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 381, "tasks": ["place tool"], "length": 162, "global_instruction": "Pick up the small screwdriver on the white table and place it into the light-colored bowl.", "scene_description": "A light wooden table and a white table are in the scene. On the white table: a small light-colored bowl, a small screwdriver, dark blue fabric, three light brown paper sheets, a red cloth lies on the edge of the two tables, and a robotic arm is at the left of the white table.", "global_instruction_dense": "The left robotic arm moves toward the small screwdriver on the white table, grasps it, lifts it, moves it over the light-colored bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 382, "tasks": ["place tool"], "length": 184, "global_instruction": "Place the small black-handled screwdriver on the white table into the light-colored bowl.", "scene_description": "A white table holds a light-colored bowl, a small black-handled screwdriver, and a square brown paper sheet; a wooden table behind has folded blue and red fabrics, and a robotic arm is positioned to the left of the white table.", "global_instruction_dense": "The right robotic gripper moves toward the small black-handled screwdriver on the white table, grasps it, lifts it, moves it over the light-colored bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 383, "tasks": ["place tool"], "length": 197, "global_instruction": "Remove the orange-tipped screwdriver from the clear plastic cup and place it on the wooden table.", "scene_description": "A light round wooden table holds a clear plastic cup with an orange-tipped screwdriver inside, a crumpled orange cloth, a crumpled dark blue cloth, a small silver packet, and a white decorative doily with a small dark packet on it; a white robotic arm base sits on a dark table to the left of the wooden table.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic cup on the round wooden table, grasps the orange-tipped screwdriver inside the cup, lifts the screwdriver out of the cup, moves it over the table surface next to the cup, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 384, "tasks": ["place tool"], "length": 227, "global_instruction": "Place the orange-handled screwdriver into the clear plastic cup on the table", "scene_description": "A round light wooden table holds an orange-handled silver screwdriver, a clear plastic cup, a white scalloped doily with a small dark object on it, a crumpled coral cloth, and a crumpled dark blue cloth. A white robotic arm is positioned to the left of the table, with a black office chair in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange-handled screwdriver on the table, grasps it, lifts it, moves it over the clear plastic cup, and releases it to drop into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 385, "tasks": ["place tool"], "length": 174, "global_instruction": "Remove the orange-handled tool from the clear plastic cup and place it on the wooden table.", "scene_description": "A round light wooden table holds a folded coral cloth, folded dark blue cloth, clear plastic cup with an orange-handled tool inside, and a white scalloped doily with a small dark object on top. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic cup on the table, grasps the orange-handled tool inside the cup, lifts the tool out of the cup, moves it over the table near the coral cloth, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 386, "tasks": ["place tool"], "length": 243, "global_instruction": "Place the orange-handled screwdriver into the clear plastic cup on the table.", "scene_description": "A round light wooden table holds an orange-handled screwdriver, a clear empty plastic cup, a white scalloped doily with a small dark item on top, a crumpled coral-colored cloth, and a crumpled dark blue cloth. A white robotic arm base sits left of the table, with a black office chair behind the table.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled screwdriver on the wooden table, grasps the screwdriver, lifts it, moves it above the clear plastic cup, and releases it to drop into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 387, "tasks": ["place tool"], "length": 199, "global_instruction": "Place the small silver and black screwdriver into the red patterned mug on the round table.", "scene_description": "A round light wooden table holds a small silver and black screwdriver, two small metallic objects, a stack of white circular plates, a red patterned mug, a blue cloth, and a peach-colored cloth. A white robotic arm is positioned to the left of the table, with black office chairs surrounding the table on a dark carpeted floor.", "global_instruction_dense": "The right robotic arm moves toward the small silver and black screwdriver on the round wooden table, grasps it, lifts it, moves it over the red patterned mug, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 388, "tasks": ["place tool"], "length": 311, "global_instruction": "Place the blue-handled screwdriver into the clear plastic cup on the table.", "scene_description": "A white round table holds a blue-handled screwdriver, clear plastic cup, white dustpan with black brush, red-handled clamp, and beige envelope, positioned next to an orange patterned sofa with a white robotic arm at the left of the frame.", "global_instruction_dense": "The right robotic arm moves toward the blue-handled screwdriver on the white round table, grasps it with its gripper, lifts the screwdriver, moves it over the clear plastic cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 389, "tasks": ["place tool"], "length": 142, "global_instruction": "Place the blue-handled screwdriver on the white table near the red-handled clamp", "scene_description": "A small round white table sits next to an orange patterned sofa. On the table, there is a clear plastic cup, a beige paper sheet, a red-handled clamp, a white dustpan with a black brush edge, and a blue-handled screwdriver. A black camera tripod is to the left of the table, and two white robotic arms are in the foreground.", "global_instruction_dense": "The right robotic arm extends toward the blue-handled screwdriver on the white table, grasps it, lifts it, moves it toward the red-handled clamp on the table, then lowers and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 390, "tasks": ["place tool"], "length": 200, "global_instruction": "Place the blue-handled screwdriver from the table into the clear plastic cup on the table.", "scene_description": "A small white round table rests on an orange sofa, holding a clear plastic cup, a beige rectangular block, a blue-handled screwdriver, a white-and-black dustpan, and a red-black clamp, with a white robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the blue-handled screwdriver on the white table, grasps the screwdriver, lifts it, moves it over the clear plastic cup, and releases it to drop the screwdriver into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 391, "tasks": ["place tool"], "length": 147, "global_instruction": "Place the orange handled screwdriver into the light blue bowl on the white table", "scene_description": "A small white round table sits in front of an orange textured sofa. On the table are a light blue bowl, a white spatula with black grip, and two F clamps with orange handles. Two beige paper scraps rest on the sofa beside the table, and a white robotic arm is positioned at the upper left of the scene.", "global_instruction_dense": "The right robotic arm moves downward from its initial position toward the white table, grasps the screwdriver with an orange handle, lifts the screwdriver, moves it over the light blue bowl, and releases it to drop the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 392, "tasks": ["place tool"], "length": 139, "global_instruction": "Pick up the orange-handled small tool and place it into the cyan bowl on the table.", "scene_description": "A white round table sits on an orange sofa. On the table are a cyan bowl, an orange-handled small tool, two beige paper pieces, two orange-handled black clamps, and a white spatula with a black handle. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled small tool on the white table, grasps it, lifts it, moves it over the cyan bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 393, "tasks": ["place tool"], "length": 145, "global_instruction": "Place the orange-handled small tool on the table into the turquoise blue bowl.", "scene_description": "A white round table is placed in front of an orange sofa. On the table, a turquoise blue bowl is at the center, an orange-handled small tool is to the left of the bowl, a white spatula with black and orange handle is at the lower right of the table, two orange-handled tools are at the top of the table, and a small beige paper piece is left of the bowl. A left robotic arm is positioned on the left side of the scene.", "global_instruction_dense": "The left robotic arm moves toward the orange-handled small tool on the left of the table, grasps the tool with its gripper, lifts it, moves it over the central turquoise blue bowl, and releases the tool into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 394, "tasks": ["place tool"], "length": 140, "global_instruction": "Remove the orange-handled screwdriver from the teal bowl and place it on the white table", "scene_description": "A white round table is positioned in front of an orange sofa. On the table, a teal bowl holding an orange-handled screwdriver is at the center, a white spatula with black handle rests below the bowl, and two orange-handled tools are above the bowl. Crumpled paper pieces lie on the sofa next to the table.", "global_instruction_dense": "The right robotic arm moves toward the teal bowl on the white table, grasps the orange-handled screwdriver inside the bowl, lifts the screwdriver out of the bowl, moves it over the left side of the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 395, "tasks": ["place tool"], "length": 144, "global_instruction": "Pick the screwdriver from the white bowl and place it on the white table surface.", "scene_description": "A white round table sits next to an orange textured sofa. On the table, there is a white bowl with a black screwdriver inside, a large brush with black bristles, two orange-handled clamps, and a piece of beige paper. A white robotic arm with blue indicator lights is positioned to the left of the table, with its gripper initially out of view above the frame.", "global_instruction_dense": "The left robotic gripper moves downward toward the white bowl on the table, grasps the screwdriver inside the bowl, lifts the screwdriver out of the bowl, moves it to an empty area on the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 396, "tasks": ["place tool"], "length": 161, "global_instruction": "Take the screwdriver out of the white bowl and place it on the white round table", "scene_description": "A white round table is placed in front of an orange couch. On the table, there are two light brown paper sheets, a white brush with black bristles, two orange-handled clamps, and a small white bowl holding a black-handled screwdriver. A white robotic arm is positioned to the left of the table, with a partially visible person in purple clothing in the left background.", "global_instruction_dense": "The left robotic arm moves toward the white bowl on the round table, grasps the screwdriver inside the bowl, lifts the screwdriver out of the bowl, moves it to a clear area on the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 397, "tasks": ["place tool"], "length": 140, "global_instruction": "Pick up the small screwdriver on the table and place it into the white translucent container", "scene_description": "A white round table is placed against an orange fabric sofa. On the table are two beige paper sheets, a white brush with black bristles, two orange-handled clamps, a small silver screwdriver with a black head, and a white translucent container. A crumpled paper rests on the sofa edge next to the table, and a white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm extends toward the small screwdriver on the white round table, grasps it, lifts it, moves it over the white translucent container, lowers it, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 398, "tasks": ["place tool"], "length": 175, "global_instruction": "Take the screwdriver out of the white bowl and place it on the white table surface.", "scene_description": "A white round table next to an orange couch holds a white bowl with a screwdriver inside, two brown paper bags, a white cleaning brush with black bristles, and two orange-handle clamps. A robotic arm is positioned left of the table.", "global_instruction_dense": "The left robotic arm moves toward the white bowl on the table, grasps the screwdriver inside the bowl, lifts it, moves it to an empty spot on the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 399, "tasks": ["place tool"], "length": 140, "global_instruction": "Place the silver screwdriver on the table into the small white bowl", "scene_description": "A white round table is placed next to an orange couch. On the table, there is a silver screwdriver with black head, two orange-handled clamps, a white dustpan with black brush, two brown paper sheets, and a small white bowl. A white robotic arm base with blue lighting is positioned to the left of the table.", "global_instruction_dense": "The left robotic gripper moves toward the silver screwdriver on the white table, grasps it, lifts it, moves it over the small white bowl, and releases the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 400, "tasks": ["place tool"], "length": 134, "global_instruction": "Take the black-handled screwdriver out of the white bowl and place it on the white table.", "scene_description": "A white round table is positioned in front of an orange textured sofa. On the table: a white bowl holding a black-handled screwdriver, two beige paper sheets, a white brush with black bristles, two orange-handled black clamps. A white robotic arm base is to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the white bowl on the round table, grasps the black-handled screwdriver inside the bowl, lifts it out of the bowl, moves it to an empty spot on the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 401, "tasks": ["place tool"], "length": 187, "global_instruction": "Pick up the small screwdriver from the table and place it into the white bowl", "scene_description": "A white round table sits in front of a red sofa. On the table, there is a small silver screwdriver with a black top, a white dust brush with a black head, two square beige cloths, and a small white bowl. A white robotic arm base with blue lights is positioned left of the table.", "global_instruction_dense": "The right robotic arm moves down toward the small screwdriver on the table, grasps the screwdriver with its gripper, lifts it, moves it over the small white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 402, "tasks": ["place tool"], "length": 187, "global_instruction": "Reposition the black tool on the kitchen countertop to a new position.", "scene_description": "A white kitchen countertop holds a black tool with a red component, red table tennis paddle, and silver kettle. White upper cabinets with silver handles, an open white drawer with wooden interior, and a white robotic arm are also visible in the kitchen space.", "global_instruction_dense": "The left robotic arm grasps the black tool with a red component from the kitchen counter, moves it to a new position across the counter surface, then releases the tool.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 403, "tasks": ["place tool"], "length": 122, "global_instruction": "Relocate the black tool on the kitchen counter to a position further right on the same counter.", "scene_description": "A white kitchen counter holds a red ping-pong paddle, blue rectangular sponge, small black tool, stack of white papers, metallic silver kettle in a recessed shelf, and small brown box. White cabinets with silver handles are mounted above the counter, and a white robotic arm is positioned at the left of the counter.", "global_instruction_dense": "The left robotic arm moves toward the black tool on the kitchen counter, grasps it with its gripper, lifts it, moves it rightward across the counter, and releases it at the new target position.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 404, "tasks": ["place tool"], "length": 331, "global_instruction": "Place the metal pliers on the table into the front red bowl holding a yellow banana and orange object.", "scene_description": "A black lab tabletop holds three red bowls, metal pliers, a metal fork, a beige perforated wooden block, a green toy in the middle red bowl, and a yellow banana with an orange object in the front red bowl, with a robotic arm positioned at the left of the frame and office equipment in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the metal pliers on the table, grasps and lifts the pliers, moves over the front red bowl, lowers and releases the pliers into the bowl, then lifts upward and moves back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 405, "tasks": ["place tool"], "length": 634, "global_instruction": "Pick yellow-handled hex keys from their rack and place them on the black worktable.", "scene_description": "A white robotic arm is positioned above a black worktable in a lab workspace. On the table, a rack of yellow-handled hex keys, a rack of red-handled hex keys, a white box, a computer monitor, and assorted office supplies are arranged, with office chairs and metal lab framing in the background.", "global_instruction_dense": "The right robotic arm moves toward the rack of yellow-handled hex keys, grasps one key, lifts it, moves it over the worktable, releases it onto the table, returns to the rack to grasp another key, and places this second key on the worktable as well.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 406, "tasks": ["place tool"], "length": 389, "global_instruction": "Move the yellow T-handle hex key from the wooden desk onto the pile of yellow T-handle hex keys on the black work surface.", "scene_description": "In a lab workspace, a white robotic arm is positioned above a black work surface scattered with yellow T-handle hex keys; a single yellow T-handle hex key rests on the adjacent wooden desk alongside a white monitor, white hard hat, and other lab equipment.", "global_instruction_dense": "The left robotic arm lowers toward the yellow T-handle hex key on the wooden desk, grasps it with its gripper, lifts it, moves it over the black work surface holding the scattered yellow hex keys, releases it onto the pile, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 407, "tasks": ["place tool"], "length": 569, "global_instruction": "Pick a red T-shaped tool from the right rack and place it on the black worktable.", "scene_description": "A white robotic arm is positioned above a black worktable. Multiple yellow T-shaped tools rest on the worktable, and multiple red T-shaped tools are arranged on a rack to the worktable's right. A wooden desk with monitors, a white helmet-shaped object, and other office equipment is in the background.", "global_instruction_dense": "The right robotic arm moves toward the right rack holding red T-shaped tools, grasps one red T-shaped tool with its gripper, moves the tool over the black worktable, lowers the tool, and releases it onto the worktable surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 408, "tasks": ["place tool"], "length": 379, "global_instruction": "Pick the yellow screwdriver from the wooden table and place it on the black worktable with the other yellow screwdrivers.", "scene_description": "A white robotic arm is in a lab workspace, with multiple yellow-handled screwdrivers on a black foreground worktable, one yellow-handled screwdriver on a wooden table next to a white helmet and small brown box, and computer equipment in the background.", "global_instruction_dense": "The left robotic arm moves toward the yellow screwdriver on the wooden table, grasps it, lifts and transports it over the black worktable, releases it onto the table among the other yellow screwdrivers, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 409, "tasks": ["place tool"], "length": 439, "global_instruction": "Pick up small objects from the table and reposition them across the table surface using the robotic arm.", "scene_description": "A wooden table holds several mugs (white, blue patterned, gray, stacked orange), a clear bottle with a green cap, a beige fabric cloth, and white paper towel rolls, against a wall with a California Republic flag. A white door and metal storage shelf are to the left of the table, and a white robotic arm is positioned above the table's left edge.", "global_instruction_dense": "The left robotic arm lowers toward the table, grasps a small key-like object, lifts and moves it rightward, releases it onto the table, moves back to the left side of the table, grasps another small object, and lifts it upward by the end of the sequence.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 410, "tasks": ["place tool"], "length": 121, "global_instruction": "Remove the blue screwdriver from the white bowl and place it on the dark gray tabletop.", "scene_description": "A dark gray tabletop holds a white bowl containing a blue screwdriver, a white robotic arm is positioned to the left of the table, with a green mat, two silver insulated drink dispensers, and several people in the background.", "global_instruction_dense": "The right robotic arm moves toward the white bowl on the table, lowers its gripper into the bowl to grasp the blue screwdriver, lifts the screwdriver out of the bowl, moves it to the table surface next to the bowl, releases the screwdriver onto the table, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 411, "tasks": ["place tool"], "length": 117, "global_instruction": "Place the blue screwdriver on the countertop into the white bowl.", "scene_description": "A dark grey countertop holds a blue screwdriver, white ceramic bowl, clear plastic water bottle, two stainless steel thermal carafes, and folded green cloth. A white robotic arm is positioned to the left of the counter, with a break area with orange seating and people in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the blue screwdriver on the countertop, grasps it, lifts it, moves it over the white bowl, and releases it to drop the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 412, "tasks": ["place tool"], "length": 130, "global_instruction": "Place the blue screwdriver into the light beige bowl", "scene_description": "A dark grey countertop holds a light beige bowl, a blue screwdriver, and a white notice sign. A right robotic arm is positioned above the countertop, with a left robotic arm at the left edge of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the blue screwdriver on the countertop, grasps the screwdriver, lifts and moves it over the light beige bowl, then releases the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 413, "tasks": ["place tool"], "length": 103, "global_instruction": "Remove the green screwdriver from the white mug and place it on the white table", "scene_description": "A white printed mug, a transparent glass jar, and a silver aluminum foil tray are placed on a white round table. A robotic arm is at the top of the frame, with office seating, glass cubicles, and an orange wall with a whiteboard in the background.", "global_instruction_dense": "The left robotic arm moves toward the white mug on the table, grasps the green screwdriver inside the mug, lifts the screwdriver out of the mug, moves it to an empty spot on the white table, lowers it, releases it onto the table, and lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 414, "tasks": ["place tool"], "length": 121, "global_instruction": "Place the green screwdriver into the white mug on the table", "scene_description": "A white round table holds a green screwdriver, a white printed mug, a glass jar, and a silver aluminum foil tray, in an office area with orange chairs, glass partitions and a whiteboard on an orange wall.", "global_instruction_dense": "The right robotic gripper moves toward the green screwdriver on the table, grasps it, lifts it, moves it over the white mug, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 415, "tasks": ["place tool"], "length": 155, "global_instruction": "Place the small green tool on the table into the white ceramic mug", "scene_description": "A white round table in an office lounge holds a white ceramic mug, a small green tool, an open box of wooden coffee stirrers, and a clear bottle with a red cap. Orange and grey chairs surround the table, with a whiteboard on the orange wall and glass office rooms in the background.", "global_instruction_dense": "The right robotic arm lowers toward the small green tool on the white table, grasps the tool, lifts it, moves it over the white ceramic mug, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 416, "tasks": ["place tool"], "length": 164, "global_instruction": "Place the screwdriver onto the upper white small table next to the transparent glass.", "scene_description": "A transparent clear glass is placed at the seam between two adjacent white small tables with orange supports. A white robotic arm is positioned to the left of the tables, and a woman holding a cup sits on an orange-pink sofa in the background.", "global_instruction_dense": "The right robotic arm moves toward the upper white small table next to the transparent glass, lowers its gripper, places the screwdriver onto the table surface, then lifts the empty gripper away from the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 417, "tasks": ["place tool"], "length": 184, "global_instruction": "Pick up the black screwdriver and place it into the transparent glass cup on the same table.", "scene_description": "A white robotic arm is positioned to the left of two adjacent white small tables with orange supports. A transparent glass cup and a black screwdriver rest on the upper white table, with multiple colored sofas in the background.", "global_instruction_dense": "The right robotic gripper moves toward the black screwdriver on the upper white table, grasps it, lifts it, moves it over the transparent glass cup, then lowers and releases the screwdriver into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 418, "tasks": ["place tool"], "length": 144, "global_instruction": "Place the purple screwdriver into the grey mug on the lower white table.", "scene_description": "A dual-arm white robotic platform stands next to two stacked white side tables. The lower table holds a grey mug, a purple screwdriver, and a blue curved object. The upper table holds a yellow paper envelope. A green plastic bag rests on the blue segment of a multi-colored fabric sofa in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple screwdriver on the lower white table, grasps it, lifts it, moves it over the grey mug, and releases the screwdriver to drop it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 419, "tasks": ["place tool"], "length": 107, "global_instruction": "Place the orange-handled screwdriver on the side table into the black-rimmed bowl.", "scene_description": "A white side table with orange legs holds an orange-handled screwdriver and a black-rimmed bowl of light liquid, next to a robotic arm base in a lounge with gray and orange fabric sofas on dark carpet.", "global_instruction_dense": "The right robotic arm moves downward toward the orange-handled screwdriver on the white side table, grasps the screwdriver, lifts it, moves it over the nearby black-rimmed bowl, and releases the screwdriver into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 420, "tasks": ["place tool"], "length": 91, "global_instruction": "Pick up the small yellow-black screwdriver on the tabletop and place it into the clear plastic container.", "scene_description": "A light brown tabletop holds a black monitor, black mouse, white power adapter, white papers, a clear plastic container, and a small yellow-black screwdriver. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the small yellow-black screwdriver on the tabletop, grasps it with its gripper, lifts it, moves it over the clear plastic container, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 421, "tasks": ["place tool"], "length": 109, "global_instruction": "Pick the yellow screwdriver from the clear glass dish and place it on the wooden table.", "scene_description": "A light wooden table holds a black monitor on its right, a clear glass dish with a yellow screwdriver inside, and a white dual-arm robotic manipulator to the left of the table.", "global_instruction_dense": "The right robotic arm lowers toward the clear glass dish on the table, grasps the yellow screwdriver inside the dish, lifts the screwdriver out of the dish, moves it over the table surface, and releases it to place it on the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 422, "tasks": ["place tool"], "length": 150, "global_instruction": "Place the orange-handled screwdriver into the white ceramic mug on the table", "scene_description": "A light wooden table holds a white ceramic mug, an orange-handled screwdriver, two small white books, and clear plastic containers. A monitor sits behind the table, a whiteboard with handwritten text is left of the table, a right robotic arm is positioned above the table, and a left robotic arm is on the left edge of the frame, with a secondary desk holding a keyboard to the right of the main table.", "global_instruction_dense": "The right robotic arm moves down toward the orange-handled screwdriver on the table, grasps it with its gripper, lifts it, moves it over the white ceramic mug, lowers it, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 423, "tasks": ["place tool"], "length": 126, "global_instruction": "Place the red screwdriver into the white cup on the counter", "scene_description": "A white counter holds stacks of paper, a red screwdriver, a white open cup, and an embedded square black panel. The right robotic gripper is positioned above the counter near upper white cabinets, and the left robotic arm with blue lights is on the left side of the frame.", "global_instruction_dense": "The right robotic arm descends from its initial position above the counter, grasps the red screwdriver resting on the counter, lifts the screwdriver, moves it over the white cup, and lowers it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 424, "tasks": ["place tool"], "length": 110, "global_instruction": "Remove the red-handled tool from the mug and place it on the printer surface.", "scene_description": "A red-handled tool rests inside a white and green mug placed on a white office printer. White wall-mounted file organizers are on the left, white storage cabinets are on the right, and a robotic gripper is positioned above the mug.", "global_instruction_dense": "The left robotic gripper moves downward toward the mug, grasps the red-handled tool inside the mug, lifts the tool out of the mug, moves it toward the printer surface, and releases it onto the printer, knocking the mug over in the process.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 425, "tasks": ["place tool"], "length": 106, "global_instruction": "Take the orange-handled tool out of the white bowl and place it on the wooden table.", "scene_description": "A light brown wooden table holds a white bowl with an orange-handled tool inside it, and a black speaker to the right of the bowl. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm extends its gripper toward the white bowl on the table, lowers the gripper into the bowl to grasp the orange-handled tool, lifts the tool out of the bowl, moves it to the adjacent table surface, and releases the tool onto the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 426, "tasks": ["place tool"], "length": 126, "global_instruction": "Pick up the orange-handled tool and place it into the small white bowl.", "scene_description": "A light wooden table holds a small white bowl, an orange-handled tool, a tall black box on the right, and a white printed canvas bag at the bottom right. A white robotic arm base is positioned to the left of the table.", "global_instruction_dense": "The right robotic gripper moves into view above the table, lowers toward the orange-handled tool, grasps and lifts it, moves it over the small white bowl, and releases the tool into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 427, "tasks": ["place tool"], "length": 391, "global_instruction": "Pick up screwdrivers from the workbench surface and hang them on the workbench's edge pegs.", "scene_description": "A wooden workbench is positioned against a windowed wall, multiple screwdrivers with wooden handles are placed on the workbench surface, and a white robotic manipulator arm is positioned in front of the workbench.", "global_instruction_dense": "The left robotic arm grasps screwdrivers one by one from the workbench surface, lifts each, moves it to the workbench's edge pegs, hangs it in place, and returns to reach for the next screwdriver until all targeted screwdrivers are hung.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 428, "tasks": ["place tool"], "length": 218, "global_instruction": "Place the small silver key on the table into the red gingham basket.", "scene_description": "A white table holds a red-white gingham basket, a black tray with an orange, toy cookware, a toy hamburger, a small silver key, and assorted toy food items.", "global_instruction_dense": "The right robotic arm moves toward the small silver key on the white table, grasps it with its gripper, lifts and moves it over the red gingham basket, then releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 429, "tasks": ["place tool"], "length": 239, "global_instruction": "Move the blue scissors on the table to a position closer to the black desk lamp.", "scene_description": "A white office table holds a pink tissue box, gray tape roll, white bottle with black lid, red water bottle, black desk lamp with wooden base, orange plastic bag, blue scissors, black-and-white calibration checkerboards, white ball, two gray tissue boxes, and a beige mug, in an open office with other desks and people in the background.", "global_instruction_dense": "The right robotic gripper enters from the right side of the frame, moves toward the blue scissors on the table, grasps the scissors, shifts them to a spot closer to the black desk lamp with the wooden base, releases the scissors, then moves back upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 430, "tasks": ["place tool"], "length": 427, "global_instruction": "Pick up the blue scissors from the front of the table and place them near the gray tissue boxes at the rear of the table.", "scene_description": "A light gray office table holds blue scissors, a pink tissue box, gray adhesive tape, a red water bottle, checkered calibration sheets, and assorted office supplies, with an open office workspace in the background.", "global_instruction_dense": "The right robotic gripper moves toward the blue scissors at the front of the table, grasps and lifts them, moves them to the rear of the table near gray tissue boxes, releases the scissors onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 431, "tasks": ["place tool"], "length": 313, "global_instruction": "Pick up the blue tool and place it upright on the table near the wooden ring stand.", "scene_description": "A white table stands against a white wall with three mounted electrical boxes and hanging cables. On the table: a wooden stand with a white ring, a roll of grey tape with a red core, a flat blue tool, black game controllers, colorful plush toys, a small red round object, and a robotic arm on the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the blue tool lying flat on the table, grasps it with its gripper, lifts and rotates the tool to a vertical orientation, then lowers and places it standing upright on the table next to the wooden ring stand.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 432, "tasks": ["place tool"], "length": 478, "global_instruction": "Place the scissors, pen, and gray rectangular object into the clear glass on the table.", "scene_description": "A white round table holds a green book, small yellow/red/black blocks, two red plastic shapes, a black table mat, a pair of scissors on the mat, and a clear glass with a gray rectangular object inside. A white robotic arm is positioned to the right of the table, with lab equipment and other robotic arms in the background.", "global_instruction_dense": "The right robotic arm grasps the scissors on the black mat, moves them over the clear glass and releases them inside, then grasps a pen, moves it over the glass and releases it inside, then adjusts the gray rectangular object into the glass before returning to its rest position.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 433, "tasks": ["place tool"], "length": 880, "global_instruction": "Take scissors from the clear glass on the table, place them on the black mat, then return the scissors to the clear glass.", "scene_description": "A white round table in a robotics lab holds a green book, yellow and red cube blocks, a red flat object, a black rectangular mat, and a clear glass containing objects, with worktables, other robotic arms, and a tripod in the background.", "global_instruction_dense": "The right robotic arm moves to the clear glass on the round white table, grasps and extracts the scissors inside, places them on the black mat, then grasps the scissors again, moves them back to the glass, inserts them, and retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 434, "tasks": ["place tool"], "length": 253, "global_instruction": "Pick a pair of scissors from the glass cup on the table and place it back into the cup.", "scene_description": "A white round table holds a green book, small yellow, red, and black cubes, a red shaped object, a pink ruler, a black elongated object, a black mat, and two clear glass cups filled with pens and scissors on the mat. A white robotic arm is positioned to the right of the table, with other lab equipment, tables, and tripods visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the glass cups on the white round table, grasps a pair of scissors from one cup, lifts it out, adjusts its position, places the scissors back into the glass cup, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 435, "tasks": ["place tool"], "length": 351, "global_instruction": "Place a pair of scissors from the dark pen cup into the white mug with yellow interior", "scene_description": "A white round table holds a green book, stacked red and yellow blocks, a black remote, a red ruler, a white plate, small colored blocks, a white mug with yellow interior on a black mat, and a dark pen cup with stationery. A robotic arm is positioned to the right of the table in a robotics lab.", "global_instruction_dense": "The right robotic arm moves toward the dark pen cup on the table, grasps a pair of scissors from inside the cup, lifts the scissors, moves it over the white mug with yellow interior, lowers the scissors, and releases it into the white mug.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 436, "tasks": ["place tool"], "length": 345, "global_instruction": "Take a pair of scissors from the black cup and place it on the black mat next to the cup.", "scene_description": "A white round table holds a green book, red and yellow stacked blocks, black remote, red paper cutout, red ruler, white pen cup, black scissors cup, white plate, and small black, green, orange blocks. A right robotic arm is positioned at the top right, with lab workstations and tripods in the background.", "global_instruction_dense": "The right robotic arm moves down toward the black scissors cup on the round table, grasps a pair of scissors, lifts it out of the cup, lowers it onto the adjacent black mat, releases the scissors, then moves back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 437, "tasks": ["place tool"], "length": 441, "global_instruction": "Place all black small items beside the white box into the white box.", "scene_description": "A white round table holds a white box with colorful items and several black small items next to the box, with a right robotic arm on the table's right, a red robotic arm on the left, in an office with desks and chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the black items next to the white box on the round table, grasps each black item sequentially, lifts them, and releases each into the white box until all loose black items are inside the box.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 438, "tasks": ["place tool"], "length": 1703, "global_instruction": "Place all tools and small parts from the table into the white rectangular box", "scene_description": "A white round table has a white rectangular box near its center, with a pile of assorted colored tools and small parts to the right of the box. A white robotic arm is positioned at the right edge of the table, and a red robotic arm is in the background left of the table.", "global_instruction_dense": "The right robotic arm repeatedly moves to the pile of tools and small parts on the table, grasps each item individually, moves over the white rectangular box, and releases the item into the box until all items are stored inside.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 439, "tasks": ["place tool"], "length": 1633, "global_instruction": "Place all small tools and objects on the white table into the adjacent open white box.", "scene_description": "A white round table holds an open white box with a yellow interior, alongside multiple small tools and objects (including yellow, blue, red, black, and grey items) positioned next to the box. A white robotic arm is located to the right of the table, with a red humanoid robot, purple office chair, and computer workstations visible in the background lab space.", "global_instruction_dense": "The right robotic arm sequentially moves to each small tool and object on the white table, grasps each item, lifts it, moves it over the open white box, and releases it into the box, repeating until all items are stored inside the box, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 440, "tasks": ["place tool"], "length": 1765, "global_instruction": "Place all tools scattered on the white round table into the white open box.", "scene_description": "A white open box and multiple small handheld tools (including scissors, a red tape measure, and pliers) are placed on a white round table, with all tools scattered to the right of the box, and a right robotic arm is positioned above the table near the tools.", "global_instruction_dense": "The right robotic gripper moves to the pile of scattered tools on the right of the white open box, grasps one tool at a time, lifts each tool, moves it over the box, and releases it into the box, until most tools are stored inside the box.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 441, "tasks": ["place tool"], "length": 209, "global_instruction": "Pick up the silver tool resting on the pot edge and place it into the metal pot.", "scene_description": "A small silver metal pot sits on a brown wooden table, with a silver cylindrical tool resting on the pot's edge. Cardboard boxes and lab equipment are in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the silver tool on the pot edge, grasps the tool, lifts it, moves it over the pot opening, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 442, "tasks": ["place tool"], "length": 203, "global_instruction": "Take the white tool out of the metal pot and place it on the brown wooden table next to the pot.", "scene_description": "A small silver metal pot with a white-handled tool inside sits on a brown wooden table in a workshop, with no robotic arm visible initially.", "global_instruction_dense": "The left robotic arm moves down toward the metal pot on the wooden table, grasps the white tool inside the pot, lifts the tool out of the pot, moves it to the side of the pot, lowers it onto the table surface, and releases the tool.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 443, "tasks": ["place tool"], "length": 173, "global_instruction": "Remove the metallic tool from the silver cup and place it on the wooden table surface.", "scene_description": "A silver metal cup holding a small metallic tool sits on a brown wooden table, with lab equipment, cardboard boxes, and work tables in the background.", "global_instruction_dense": "The right robotic arm moves down toward the silver cup on the wooden table, grasps the small metallic tool inside the cup, lifts the tool out of the cup, moves it to a spot next to the cup on the table, lowers the tool, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 444, "tasks": ["place tool"], "length": 214, "global_instruction": "Pick up the green-handled tool and place it next to the blue towel on the brown table.", "scene_description": "A brown tabletop holds a yellow round plate, folded blue towel, black-and-white egg-shaped object, green-handled tool, and a stainless steel pot with a marker inside. Robotic arms are positioned around the table with no active arm above the table initially.", "global_instruction_dense": "The right robotic arm moves over the brown table, pushes the black-and-white egg-shaped object aside, grasps the green-handled tool, lifts it, moves it toward the folded blue towel, and places it on the table between the towel and the egg object.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 445, "tasks": ["place tool"], "length": 243, "global_instruction": "Move the orange tool near the white bowl to the table area near the stainless steel pot.", "scene_description": "A wooden table holds a folded light blue towel, an orange small tool, a pink fluffy ball, a green small object, a white plastic bowl, and a stainless steel small pot, with the bowl at the table's left end and the pot at the right end.", "global_instruction_dense": "The right robotic arm descends from above the table toward the orange tool near the white bowl, grasps the tool, moves it rightward past the folded light blue towel, and places it on the table near the stainless steel pot.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 446, "tasks": ["place tool"], "length": 123, "global_instruction": "Move the small red T-shaped tool from the center of the work counter to its right edge.", "scene_description": "A grey speckled work counter holds a yellow pencil, small red T-shaped tool, black electronic device, and clear battery-filled container. Black open cabinets under the counter hold trash bins, a black computer tower and white printer are to the left of the counter, and a perforated workbench with an orange handle is at the bottom left.", "global_instruction_dense": "The right robotic arm moves into position over the small red T-shaped tool on the work counter, grasps the tool, slides it rightward across the counter surface, and holds it at the counter's right edge near protruding white papers.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 447, "tasks": ["place tool"], "length": 102, "global_instruction": "Position the black tool holder on the dark countertop.", "scene_description": "A dark speckled countertop with black lower cabinets is in a workspace. On the counter are a yellow pencil, white box, small blue item, black coffee maker, clear supply container, and stacked red-yellow-blue blocks at the back left. A white filing cabinet stands to the left of the counter, a black perforated workbench with an orange handle is in the left foreground, and white papers are attached to the counter's right edge.", "global_instruction_dense": "The left robotic arm lowers the black tool holder onto the countertop, then moves it leftward to its target position on the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 448, "tasks": ["place tool"], "length": 127, "global_instruction": "Pick up the golden keys on the toy kitchen stove and place them into the stainless steel bowl in the sink.", "scene_description": "A toy kitchen playset is centered in view, with a set of golden keys on its four-burner stove top, a stainless steel bowl in the sink to the stove's right; a workbench with cables and tools is in the foreground, and a person sits left of the playset.", "global_instruction_dense": "The right robotic gripper moves down toward the golden keys on the toy kitchen stove, grasps them, lifts them, moves right over the stainless steel bowl in the sink, and releases the keys into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 449, "tasks": ["place tool"], "length": 181, "global_instruction": "Pick up the red-handled tool and place it on the left side of the white table.", "scene_description": "A white round table holds a red-handled tool, a small silver bowl with a yellow sponge, two silver lids, a silver cylindrical container, and a white mug. A person in blue stands in the background left of the table.", "global_instruction_dense": "The right robotic arm moves toward the red-handled tool next to the yellow sponge, grasps it, lifts it, moves it to the left side of the white table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 450, "tasks": ["place tool"], "length": 248, "global_instruction": "Pick up the black T-shaped tool on the table, move it across the table, then place it back on the table.", "scene_description": "A white table next to a window with green outdoor trees holds small tools, two yellow-green tennis balls, and a black T-shaped tool, with a robotic arm above the right table area.", "global_instruction_dense": "The right robotic arm moves downward toward the black T-shaped tool on the white table, grasps it, lifts and moves it across the table surface, lowers and releases it back onto the table, then returns to its initial raised position.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 451, "tasks": ["place tool"], "length": 240, "global_instruction": "Take the blue scissors from the black tray and place them on the white nightstand surface next to the tray.", "scene_description": "A gray hoodie lies on a wooden bed with patterned bedding. Beside the bed is a white nightstand with a black tray holding blue scissors, a floor lamp and wooden desk are behind the nightstand, and a robotic arm is positioned above the nightstand area.", "global_instruction_dense": "The right robotic arm moves downward toward the black tray, grasps the blue scissors inside the tray, lifts the scissors and moves them over the empty part of the nightstand, releases the scissors onto the nightstand, then moves upward back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 452, "tasks": ["place tool"], "length": 264, "global_instruction": "Pick up the orange-handled screwdriver and place it on the rear section of the wooden table near the keyboard.", "scene_description": "A white open toaster oven sits on the left of a dark wooden table. A white paper filter bowl, an orange-handled screwdriver, and a white thin object are on the table, with a white robotic arm mounted on the table's right side. The background is a residential living area with a couch and desks.", "global_instruction_dense": "The right robotic arm descends to grasp the orange-handled screwdriver on the front part of the wooden table, lifts it, moves it to the rear section of the table behind the white paper filter, then releases it to rest on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 453, "tasks": ["place tool"], "length": 402, "global_instruction": "Pick up the black tool from the wooden desk and place it on top of the white rectangular device.", "scene_description": "A wooden desk holds a black keyboard in the foreground, a white rectangular device on the left, a beige ring-shaped cushion at the center, and assorted small items at the far end. A white robotic arm base is mounted on a side table to the right of the desk.", "global_instruction_dense": "The right robotic arm extends downward from its base on the right side table, grasps the black tool on the wooden desk, lifts it, moves it left over the white rectangular device, lowers and places the tool on the device, then releases the tool and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 454, "tasks": ["place tool"], "length": 352, "global_instruction": "Reposition the scraper tool to a new location on the dining table.", "scene_description": "A dining table covered in a blue tablecloth printed with yellow lemons holds assorted items: a clear plastic cup with dark liquid and a straw, a small purple cup, a wooden spoon, a metal ruler, a green fruit, a white plate, and multiple hand tools. A white Franka robotic arm is positioned to the right of the table, with floral-curtained windows, wooden dining chairs, framed wall art, and a kitchen area in the background.", "global_instruction_dense": "The right robotic arm lowers from its starting elevated position, grasps the scraper tool on the table, pushes it across the table surface to a new position, releases the tool, then lifts back upward to its elevated position.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 455, "tasks": ["place tool"], "length": 658, "global_instruction": "Reposition the small red-handled tool at multiple locations on the kitchen counter.", "scene_description": "White horizontal blinds are on the left, a pale green cabinet with glass shelves holding a red Quaker Oats can is centered, a white microwave sits on the white kitchen counter below the cabinet, and a right robotic arm is positioned at the right above the counter.", "global_instruction_dense": "The right robotic arm repeatedly grasps the small red-handled tool on the kitchen counter, lifts and adjusts its position or orientation, places it back on the counter, and finally moves upward away from the tool after the last placement.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 456, "tasks": ["place tool"], "length": 183, "global_instruction": "Remove the yellow tool from the light gray basket and place it on the wooden table next to the coiled black cable.", "scene_description": "A light gray plastic basket holding assorted tools sits on a wooden table beside a window with horizontal blinds. A coiled black cable rests to the basket's right, with a white cloth and printed package to its left. A robotic arm base is visible on the far right edge of the table.", "global_instruction_dense": "The right robotic arm moves down from above the scene toward the light gray basket, grasps the yellow tool inside the basket, lifts the tool out of the basket, moves it right over the coiled black cable, lowers it, and releases it onto the wooden table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 457, "tasks": ["place tool"], "length": 259, "global_instruction": "Retrieve a pair of scissors from the open tool drawer and place it on the wooden worktable.", "scene_description": "A light wooden worktable has a blue striped cloth on its left, a green-lidded white trash bin on its top, an open tool drawer on its right, and a stationary right robotic arm base on the far right edge.", "global_instruction_dense": "The left robotic arm moves down toward the open tool drawer, grasps a pair of scissors inside the drawer, lifts the scissors out, moves it over the worktable, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 458, "tasks": ["place tool"], "length": 286, "global_instruction": "Take a yellow and black screwdriver from the open tool drawer and place it on the wooden table.", "scene_description": "A light wooden table holds a white bucket with green lid and handle, a pair of scissors, a clear plastic bottle, a white mug, and a clear container with green top on its left section. An open drawer filled with assorted tools sits to the right of the table, and a robotic arm rests near the back wall.", "global_instruction_dense": "The left robotic arm moves from its starting position near the wall down to the open tool drawer, grasps a yellow and black screwdriver, lifts it out of the drawer, moves it over the wooden table, lowers it, releases it onto the table surface, then lifts away.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 459, "tasks": ["place tool"], "length": 183, "global_instruction": "Retrieve an orange-handled tool from the open drawer and place it on the tabletop.", "scene_description": "A light wooden tabletop holds a white bucket with a green lid on its left, a yellow-black handled screwdriver, small scissors, clear plastic items, a white mug, and a green packaged container, with an open tool-filled drawer on its right next to a left robotic arm.", "global_instruction_dense": "The left robotic arm moves down into the open tool drawer, grasps an orange-handled tool, lifts it out of the drawer, moves it over the wooden tabletop, lowers it, and releases it next to the existing yellow-black screwdriver on the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 460, "tasks": ["place tool"], "length": 289, "global_instruction": "Take a white-handled screwdriver from the open tool drawer and place it on the wooden worktable.", "scene_description": "A wooden worktable holds a white bucket with a green lid on the left, a yellow-black handle screwdriver, an orange utility knife, a small pair of scissors, and plastic containers. An open drawer filled with tools sits to the right of the table, with a robotic arm positioned near the drawer.", "global_instruction_dense": "The right robotic gripper moves into the open tool drawer, grasps a white-handled screwdriver, lifts it out of the drawer, moves it over the wooden worktable, lowers it, and releases it onto the table next to the other tools.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 461, "tasks": ["place tool"], "length": 184, "global_instruction": "Retrieve a tool from the open drawer and place it on the worktable.", "scene_description": "A light wooden worktable with an open tool drawer beneath it is visible. On the table, there is a blue cloth on the left, screwdrivers near the center, and a green-lidded white trash bin, white mug, and small parts container at the back. A left robotic arm is mounted to the right of the table.", "global_instruction_dense": "The left robotic arm moves down toward the open tool drawer, grasps a metal tool inside the drawer, lifts the tool out, moves it over the worktable, lowers it onto the table surface, and releases the tool.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 462, "tasks": ["place tool"], "length": 203, "global_instruction": "Place the yellow-black handled screwdriver from the worktable into the open drawer below the table.", "scene_description": "A light wooden worktable holds a blue cloth, metal pliers, a yellow-black handled screwdriver, an orange tool, a green-and-white trash bin, a white mug, a clear plastic container, and a small black tool. An open drawer below the table contains assorted tools, and a fixed white robotic arm sits to the right of the table.", "global_instruction_dense": "The left robotic arm moves down toward the yellow-black handled screwdriver on the worktable, grasps it, lifts it, moves it over the open drawer, releases it into the drawer, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 463, "tasks": ["place tool"], "length": 269, "global_instruction": "Pick a metal tool from the open drawer and place it on the wooden worktable.", "scene_description": "A light wooden worktable holds assorted tools including scissors, pliers, a white mug and plastic containers, with an open tool-filled drawer below it; a robotic arm platform sits to the right of the table in a wooden-floored space.", "global_instruction_dense": "The left robotic arm descends toward the open tool drawer, grasps a metal tool inside the drawer, lifts the tool out, moves it left over the wooden worktable, releases the tool onto the table, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 464, "tasks": ["place tool"], "length": 176, "global_instruction": "Pick up the orange tool from the workbench and place it into the open drawer below the workbench", "scene_description": "A wooden workbench holds a blue striped cloth, a yellow-handled metal spoon, a silver gripping tool, a small orange tool, two tools with black and white handles, a white bucket with a green lid, a white mug, and a clear jar with a green lid. An open drawer filled with assorted tools sits below the workbench, and a robotic arm is positioned on the right side above the workbench.", "global_instruction_dense": "The right robotic arm moves from its initial position above the right side of the workbench toward the small orange tool on the bench, grasps the tool with its gripper, lifts the tool, moves it over the open drawer below the bench, lowers the tool, releases it into the drawer, then lifts back upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 465, "tasks": ["place tool"], "length": 191, "global_instruction": "Pick up the white-handled tool from the worktable and place it into the cutlery tray in the open drawer.", "scene_description": "A light wooden worktable holds a blue striped cloth, yellow-handled metal spoon, metal pliers, a white-handled small tool, a black-handled green tool, a green-lidded white plastic bucket, a white mug, and a clear jar with a green lid. An open drawer with assorted tools and a cutlery tray sits to the table's right, and a right robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves toward the white-handled tool on the worktable, grasps it, lifts it, moves it rightward over the open drawer's cutlery tray, lowers it into the tray, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 466, "tasks": ["place tool"], "length": 282, "global_instruction": "Place the small black scissors from the countertop into the open tool drawer below.", "scene_description": "A wooden countertop holds a blue checkered cloth on the left, a yellow-handled metal spoon in the lower center, a white bucket with green lid and handle toward the back right, small black scissors, a black ring, and clear containers near the back. An open tool-filled drawer sits below the counter edge, with a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the small black scissors on the wooden countertop, grasps them, lifts them, moves them downward into the open tool drawer below the counter, releases the scissors into the drawer, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 467, "tasks": ["place tool"], "length": 199, "global_instruction": "Pick up the red-handled scissors from the open drawer and place them on the wooden workbench", "scene_description": "A wooden workbench has a blue checkered cloth, yellow-handled spoon, yellow-black screwdriver, and metal spatula on its surface. A white bucket with a green lid sits at the back of the bench, and an open drawer below holds tools including red-handled scissors. A white robotic arm is positioned at the right above the drawer.", "global_instruction_dense": "The right robotic arm moves downward toward the red-handled scissors in the open drawer, grasps them with its gripper, lifts the scissors, moves over the wooden workbench, lowers the scissors, and releases them onto the workbench surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 468, "tasks": ["place tool"], "length": 226, "global_instruction": "Pick the blue scissors from the sink and place them on the wooden kitchen counter", "scene_description": "A wooden kitchen counter holds a blue striped cloth, yellow-handled metal spoon, metal fork, grey spatula, yellow-black screwdriver, red pliers, and a white bucket with a green lid and handle. A sink below the counter contains various tools including blue scissors, and a right robotic arm is positioned above the sink.", "global_instruction_dense": "The right robotic arm moves down toward the blue scissors in the sink, grasps the scissors, lifts them upward, moves them over the wooden kitchen counter, and releases them onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 469, "tasks": ["place tool"], "length": 318, "global_instruction": "Pick black scissors from the open lower drawer and place them on the upper wooden kitchen counter", "scene_description": "A light brown wooden kitchen counter holds black silicone spoons, a yellow-handled metal spoon, a blue cloth, small tools, a green-lidded white bucket, and a white mug. An open lower drawer holds scissors and small items, with a white right robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves downward into the open lower drawer, grasps the black scissors inside, lifts the scissors upward, moves leftward over the upper wooden kitchen counter, lowers the scissors, and releases them onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 470, "tasks": ["place tool"], "length": 167, "global_instruction": "Place a hand tool from the wooden workbench into the lower tool storage tray.", "scene_description": "A wooden workbench holds a blue checkered cloth, assorted cutlery, multiple hand tools, a white mug, and a white bucket with a green lid. Stacked metal containers sit on a higher ledge behind the workbench, a robotic arm is positioned on the upper right, and a tool storage tray is below the workbench.", "global_instruction_dense": "The right robotic arm moves from its upper right starting position down toward the workbench, grasps a hand tool with its gripper, lifts the tool, moves it downward to the lower storage tray under the workbench, and releases the tool into the tray.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 471, "tasks": ["place tool"], "length": 297, "global_instruction": "Pick up the long metal tool from the countertop and place it into the drawer below the counter.", "scene_description": "A light wooden kitchen countertop holds a blue striped cloth, multiple utensils including forks, spoons, screwdrivers and red scissors, a green-lidded white bucket, and a white mug. Stacked metal pots are on a rear ledge, a person stands in the back doorway, and a white robotic arm is positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the long metal tool on the countertop, grasps it, lifts it, moves it over the open drawer below the counter, lowers it into the drawer, releases the tool, then moves upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 472, "tasks": ["place tool"], "length": 331, "global_instruction": "Pick up the yellow and black screwdriver from the worktable and place it into the open drawer under the table.", "scene_description": "A wooden worktable holds utensils (forks, spoons, black ladles), tools (yellow-black screwdriver, red scissors, blue scissors), a blue cloth on the left, and a green-white bucket at the far end. Stacked pots sit on a raised ledge behind the table, a white mug is next to the bucket, a Franka robotic arm is on the right, and an open tool drawer is under the table.", "global_instruction_dense": "The right robotic arm moves toward the yellow and black screwdriver on the worktable, grasps it with its gripper, lifts it, moves it into the open drawer below the table, releases the screwdriver, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 473, "tasks": ["place tool"], "length": 458, "global_instruction": "Pick up the red-handled scissors on the kitchen counter and place them on the lower adjacent tray.", "scene_description": "A light wooden kitchen counter holds a blue striped cloth, metal cutlery, a green-lidded white bucket, a white mug, blue-handled and red-handled scissors, and small tools, with a right-side robotic arm positioned above the far end of the counter, and a dark brown door in the background.", "global_instruction_dense": "The right robotic arm lowers toward the red-handled scissors on the far end of the wooden kitchen counter, grasps them, lifts and moves them to the lower adjacent tray, and releases them onto the tray.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 474, "tasks": ["place tool"], "length": 265, "global_instruction": "Place the blue scissors from the countertop into the open drawer below.", "scene_description": "A light wooden kitchen countertop holds assorted metal cutlery, a blue checkered cloth, a white bucket with a green lid, a white mug, and a pair of blue scissors. An open drawer below the counter contains various tools, and a robotic arm is positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the blue scissors on the kitchen counter, grasps the scissors with its gripper, lifts them, moves over the open drawer beneath the counter, and releases the scissors into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 475, "tasks": ["place tool"], "length": 261, "global_instruction": "Pick up the silver metal kitchen tool from the counter and place it into the open drawer below the counter.", "scene_description": "A light wooden kitchen counter holds a blue checkered cloth, assorted silver and black cutlery, a white bucket with a green lid, and a white mug. A rear wooden ledge holds a stacked metal pot, white colander, and small blue bowl, while an open drawer below the counter contains assorted tools and utensils, with a right robotic arm positioned on the right above the counter.", "global_instruction_dense": "The right robotic arm moves toward the silver metal kitchen tool on the far end of the wooden counter, grasps it with its gripper, lifts it, moves it downward over the open drawer below the counter, lowers the tool, and releases it into the drawer among other stored tools and utensils.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 476, "tasks": ["place tool"], "length": 184, "global_instruction": "Pick up the red pliers on the rear of the wooden table and place them on the front section of the table.", "scene_description": "A dark wooden table has a white patterned paper cup on its raised left counter section, a white sheet of paper, a black marker, and red pliers on its flat surface. A robotic arm is positioned on the right side of the frame, with a wooden chair beside the table and background rooms visible through a doorway.", "global_instruction_dense": "The right robotic arm extends toward the red pliers on the rear of the dark wooden table, grasps the pliers with its gripper, lifts and moves the pliers to the front section of the table, then releases the pliers onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 477, "tasks": ["place tool"], "length": 203, "global_instruction": "Place the small black object from the worktable into the open tool drawer.", "scene_description": "A wooden worktable sits in a workspace, with an open lower drawer holding assorted tools. On the table surface are a white spray bottle, green-and-white striped cloth, small tools, and miscellaneous items, with a robotic arm positioned at the table's right side.", "global_instruction_dense": "The right robotic arm reaches toward the small black object on the worktable, grasps it, lifts it, moves it over the open tool drawer, and releases it into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 478, "tasks": ["place tool"], "length": 188, "global_instruction": "Pick a yellow-handled tool from the open drawer and place it on the tabletop.", "scene_description": "A light wooden table with an open tool-filled drawer sits in a kitchen; the tabletop has a green-white striped cloth, white spray bottle, mugs, and small items, with a robotic arm to the table's right above the drawer.", "global_instruction_dense": "The right robotic arm lowers into the open table drawer, grasps a yellow-handled tool, lifts it out of the drawer, moves it over the tabletop, and places it on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 479, "tasks": ["place tool"], "length": 153, "global_instruction": "Pick a metal tool from the worktable and place it into the open drawer under the table.", "scene_description": "A light wooden worktable in a kitchen holds a green-and-white striped cloth, a white spray bottle, assorted small tools, and white cups; an open drawer below the table contains various tools, and the right robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward a metal tool on the worktable, grasps it, lifts it, moves it over the open drawer, lowers it, releases it into the drawer, then moves upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 480, "tasks": ["place tool"], "length": 219, "global_instruction": "Pick up the yellow-handled screwdriver from the counter and place it on the striped cloth.", "scene_description": "A wooden kitchen counter holds a striped cloth, a white soap bottle, a yellow-handled screwdriver, and other small tools. An open utensil drawer sits below the counter, a light-colored cabinet is on the left, and a robotic arm is positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the yellow-handled screwdriver on the kitchen counter, grasps it, lifts it, moves it over the striped cloth, and releases it onto the cloth.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 481, "tasks": ["place tool"], "length": 129, "global_instruction": "Pick a screwdriver from the open drawer and place it on the striped cloth on the counter", "scene_description": "A kitchen counter holds a white cloth with green stripes, a spray bottle, small items, and white mugs. An open drawer filled with tools sits below the counter, a trash bin is at the lower left, and a robotic arm is positioned on the right.", "global_instruction_dense": "The right robotic arm moves toward the open lower drawer, grasps a screwdriver from inside the drawer, lifts it, moves it over the striped cloth on the counter, lowers it onto the cloth, releases it, and lifts away from the cloth.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 482, "tasks": ["place tool"], "length": 314, "global_instruction": "Retrieve the screwdriver under the cloth on the worktable and place it on the worktable surface.", "scene_description": "A wooden worktable holds a white-green striped cloth, a clear spray bottle, small tools, and white cups. An open tool drawer sits under the table, a trash bin is on the left floor, and a white robotic arm is positioned on the right above the table.", "global_instruction_dense": "The right robotic arm moves toward the striped cloth on the worktable, grasps the cloth edge, pulls the cloth to reveal a yellow screwdriver underneath, grasps the screwdriver, lifts it, and places it on the upper area of the worktable.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 483, "tasks": ["place tool"], "length": 263, "global_instruction": "Place the yellow-handled tool on the table into the white plastic basin.", "scene_description": "A wooden tabletop holds a clear large plastic bottle, small green-and-white container, yellow-handled tool, stainless steel bowl, pump soap bottle, white plastic basin on a metal tray, and white mug, with a white cabinet and TV in the background, and a robotic arm positioned on the right side of the table.", "global_instruction_dense": "The left robotic arm moves down toward the yellow-handled tool on the table, grasps it, lifts it, moves left over the white plastic basin, and releases the tool into the basin.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 484, "tasks": ["place tool"], "length": 199, "global_instruction": "Pick up the red scissors on the table and place them into the drawer under the table.", "scene_description": "A dark brown table has a gray patterned tissue box on its left side, a black remote control, and a red pair of scissors at its far end. A white robotic arm is positioned at the right of the table, with an open drawer under the table edge.", "global_instruction_dense": "Right robotic arm moves toward the red scissors at the far end of the table, grasps the scissors, moves the scissors down to the open drawer under the table, releases the scissors into the drawer, then lifts back upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 485, "tasks": ["place tool"], "length": 263, "global_instruction": "Place the screwdriver from the white mug onto the tabletop.", "scene_description": "A wooden table holds a silver foil tray, blue funnel, plastic water bottle, bananas, metal bowls, two white mugs, silver utensils, and a yellow-black screwdriver inside one of the mugs. A white robotic arm is positioned to the right of the table, with a TV on a white stand and whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the white mug containing the yellow and black screwdriver, grasps the screwdriver, lifts it out of the mug, moves it left across the table, lowers it, and releases it onto the wooden table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 486, "tasks": ["place tool"], "length": 230, "global_instruction": "Place the yellow-black screwdriver on the table into the upper white mug.", "scene_description": "A wooden table holds two white mugs, multiple metal utensils, a yellow-black screwdriver, a metal mixing bowl, a banana, a plastic water bottle, a turquoise funnel, and an aluminum tray with food packaging; a right robotic arm is positioned above the metal bowl, with a television on a white stand in the background.", "global_instruction_dense": "The right robotic arm lowers toward the yellow-black screwdriver on the wooden table, grasps it, lifts and moves it toward the upper white mug, then lowers and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 487, "tasks": ["place tool"], "length": 214, "global_instruction": "Take the orange scissors from the open lower drawer and place them on the kitchen counter", "scene_description": "A white kitchen counter holds a white microwave on its left, a small carton, white bowl, tiny white cylinder, brown labeled can, and orange pump soap bottle. A kettle sits in the sink behind the counter, an open upper storage cabinet is above the microwave, an open lower drawer with assorted small items is under the counter, and a robotic arm is positioned above the counter on the right.", "global_instruction_dense": "The right robotic arm moves downward into the open lower drawer, grasps the orange scissors inside, lifts the scissors up to the counter surface, places the scissors on the counter next to the brown can, then releases the scissors and retracts slightly.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 488, "tasks": ["place tool"], "length": 172, "global_instruction": "Pick a tool from the clear plastic bin on the bed and place it onto the bedspread.", "scene_description": "A floral-patterned bedspread covers a bed. A black bag sits on the left of the bed, a clear plastic storage bin is placed center-left on the bed, and a white robotic arm is mounted to the right of the bed near a window.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic bin on the bed, lowers its gripper into the bin to grasp a tool, lifts the tool out of the bin, moves leftward over the bedspread, and releases the tool onto the bed surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 489, "tasks": ["place tool"], "length": 279, "global_instruction": "Place the red scissors from the kitchen counter into the open utensil drawer.", "scene_description": "A dark kitchen countertop holds a silver toaster, coffee maker, orange-yellow cup, clear plastic container, red scissors, and papers near a window with dark curtains, with an open drawer full of metal kitchen utensils below the counter, and a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves toward the red scissors on the kitchen counter, grasps the scissors, lifts it, moves it over the open utensil drawer below the counter, lowers the scissors into the drawer, and releases it among the other kitchen utensils.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 490, "tasks": ["place tool"], "length": 820, "global_instruction": "Place the orange-handled tool into the open Tide laundry box.", "scene_description": "An open blue and orange Tide laundry box, a blue plastic scoop, a metal spoon, an orange-handled flat tool, and a brown divided wooden tray are placed on a white washing machine top. A right robotic gripper is positioned above the brown tray.", "global_instruction_dense": "The right robotic arm moves from above the brown tray toward the orange-handled tool on the washing machine top, grasps the tool, lifts it, moves it over the open Tide laundry box, releases it into the box, then moves upward away from the box.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 491, "tasks": ["place tool"], "length": 673, "global_instruction": "Place the orange flat tool on the washing machine top into the open Tide detergent box.", "scene_description": "An open orange and blue Tide detergent box, a blue plastic measuring scoop, a silver metal spoon, an orange flat tool, and a small clear blue container are placed on a white washing machine top, with a robotic arm on the right side of the frame.", "global_instruction_dense": "The right robotic arm first adjusts the small clear blue container on the washing machine, then grasps the orange flat tool, lifts it and moves it over the open Tide detergent box, releases the tool into the box, and finally moves back above the washing machine surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 492, "tasks": ["place tool"], "length": 282, "global_instruction": "Place a small metal tool from the brown tray onto the washing machine surface next to the orange scraper.", "scene_description": "A brown divided wooden tray rests on a white washing machine top, with an orange Tide laundry detergent box behind the tray, a green pen and an orange plastic scraper to the left of the tray, and a robotic arm positioned above the tray.", "global_instruction_dense": "The right robotic gripper grasps a small metal tool inside the brown divided tray, lifts it, moves it leftward to the area next to the orange scraper on the washing machine top, then lowers and releases the tool onto the surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 493, "tasks": ["place tool"], "length": 258, "global_instruction": "Reposition the dark blue bowl and place the green-handled tool into it.", "scene_description": "A white kitchen counter holds a dark blue bowl, a small white dish with yellow and blue items, a green-handled tool, a small dark clip, a white napkin holder, a black-and-white calibration board, a wooden spoon, stacked paper cups, and a small white bowl, against a gray tiled wall with power outlets.", "global_instruction_dense": "The right robotic arm first grasps the dark blue bowl, lifts and repositions it on the counter, then grasps the green-handled tool, lifts it, moves it over the repositioned dark blue bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 494, "tasks": ["place tool"], "length": 442, "global_instruction": "Rearrange the small tools and items on the wooden table.", "scene_description": "A white multi-tier shelf sits left of a wooden table, holding a light blue cup, orange cup, wine glasses, white plate, and white mug on its shelves. The wooden table holds a transparent water bottle, small tools, a blue package, and a green cloth. A right robotic arm is at the upper right of the frame.", "global_instruction_dense": "The right robotic gripper moves across the wooden table, grasps items including a water bottle, black-handled tool, and small metal utensil one by one, repositions each to different spots on the table, and releases each after placement.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 495, "tasks": ["place tool"], "length": 189, "global_instruction": "Place the silver key on the wooden table into the orange plastic cup", "scene_description": "A white open shelf unit stands next to a light wooden table. The shelf holds a white plate and glassware inside, with a green potted plant, yellow cup, and white sign on its top. The table has an orange plastic cup, blue box, silver key, green ruler, small white card, white dish, and a robotic arm on the right.", "global_instruction_dense": "The right robotic arm moves toward the silver key on the wooden table, grasps the key, lifts it, moves it over the orange plastic cup, releases the key into the cup, then lifts its gripper away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 496, "tasks": ["place tool"], "length": 109, "global_instruction": "Place the white and black tool onto the top surface of the black upright piano", "scene_description": "A black upright piano is positioned against a red wall next to a white door with white blinds and a brass doorknob. A light switch is mounted on the red wall beside the piano, the floor is light wood, and a robotic gripper holding a white and black tool is visible at the top right.", "global_instruction_dense": "The right robotic gripper holds a white and black tool, moves it leftward and downward to the top of the black piano, lowers it onto the piano surface, then releases the tool and moves upward away from the piano.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 497, "tasks": ["place tool"], "length": 141, "global_instruction": "Pick up the small metal tool and place it onto the brown wooden tray.", "scene_description": "A gray table against a purple wall holds a metallic silver bowl, a white circular dial, a brown wooden tray, a small metal tool, black glasses, and a small red box arranged from left to right.", "global_instruction_dense": "The right robotic arm enters the scene, moves downward to grasp the small metal tool on the right of the table, lifts it, moves left over the brown wooden tray, lowers it, and releases it onto the tray.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 498, "tasks": ["place tool"], "length": 146, "global_instruction": "Place the key from the brown segmented tray into the silver metal bowl", "scene_description": "A gray countertop against a purple wall holds a small red toy car, silver metal bowl, gray calculator, dark blue sunglasses, and brown segmented tray with small red items from left to right.", "global_instruction_dense": "The right robotic gripper moves to the brown segmented tray on the right of the counter, grasps a key with a red pendant and white tag, lifts it, moves it left over the silver metal bowl, then lowers and releases the key into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 499, "tasks": ["place tool"], "length": 164, "global_instruction": "Place the small metallic tool with a red base from the kitchen counter into the open drawer below the counter.", "scene_description": "A white kitchen counter sits next to a sink and a blind-covered door; a small metallic tool with a red base rests on the counter, an open drawer is below the counter, and a light green lidded container is behind the tool.", "global_instruction_dense": "The right robotic arm moves toward the small metallic tool with a red base on the kitchen counter, grasps and lifts it, lowers it into the open drawer below, releases the tool, then moves back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 500, "tasks": ["place tool"], "length": 265, "global_instruction": "Pick the red handled screwdriver from the open utensil drawer and place it on the kitchen counter.", "scene_description": "A light gray kitchen counter holds a white round plate, an orange square block, a stainless steel kettle with a black handle, and a clear glass jar with a wooden lid. An open drawer under the counter holds organized utensils and small items, and a large decorative circular patterned plate leans against the wall above the counter. A white robotic arm is positioned at the upper right, with a green wall and dark cushioned seating in the background.", "global_instruction_dense": "The left robotic gripper moves toward the open utensil drawer, grasps the red handled screwdriver inside, lifts it out of the drawer, moves it over the kitchen counter to a position beside the white plate, lowers it, releases it onto the counter, and moves upward away from the placed tool.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 501, "tasks": ["place tool"], "length": 167, "global_instruction": "Move the red-handled screwdriver to the right side of the white oval plate on the kitchen counter.", "scene_description": "A silver toaster, vertical white paper towel holder, small black plastic scoop, silver drip coffee maker, blue patterned decorative plate, small silver pitcher, red-handled screwdriver, and white oval plate are placed on a white kitchen counter, with a silver microwave installed in upper white cabinets above the counter. A robotic arm is positioned above the right side of the counter.", "global_instruction_dense": "The right robotic gripper moves left toward the red-handled screwdriver that is positioned to the left of the white oval plate, grasps the screwdriver, lifts it, moves it right to the area beside the right edge of the white oval plate, lowers it onto the countertop, releases the screwdriver, then moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 502, "tasks": ["place tool"], "length": 207, "global_instruction": "Take orange-handled scissors from the open drawer and place them on the kitchen counter.", "scene_description": "A white kitchen counter holds a black-handled knife and a small metal utensil, an open cutlery drawer sits below the counter, a gas stove is to the right of the counter, a robotic arm is positioned above the stove, and white upper cabinets with a stainless steel range hood are mounted on the wall.", "global_instruction_dense": "The right robotic gripper moves down toward the open utensil drawer, grasps the orange-handled scissors, lifts and moves the scissors over the kitchen counter, then releases the scissors onto the counter surface next to the knife.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 503, "tasks": ["place tool"], "length": 251, "global_instruction": "Take a tool from the open drawer and place it on the kitchen counter with the other tools.", "scene_description": "A stainless steel refrigerator is on the left, a white kitchen counter to its right holds multiple small hand tools including orange-handled scissors and light-colored utensils, an open utensil drawer sits below the counter, a stainless steel gas stove is to the right of the counter, white wall cabinets and a stainless steel range hood are above the area, and a right robotic arm is positioned above the stove.", "global_instruction_dense": "The right robotic arm moves downward toward the open drawer under the kitchen counter, grasps a black-handled tool with its gripper, lifts the tool out of the drawer, moves toward the counter surface, lowers the tool, and places it on the counter next to the orange-handled scissors.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 504, "tasks": ["place tool"], "length": 189, "global_instruction": "Pick a pair of scissors from the open utensil drawer and place it into another compartment of the same drawer.", "scene_description": "A kitchen with an open utensil drawer below a white countertop, a gas stove and overhead range hood with hanging utensils are behind the counter, a stainless steel refrigerator is to the left, and a white robotic arm is positioned at the right.", "global_instruction_dense": "The right robotic arm moves down toward the open kitchen utensil drawer, grasps a pair of scissors, lifts and moves it to a different compartment of the drawer, lowers and releases the scissors, then moves upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 505, "tasks": ["place tool"], "length": 209, "global_instruction": "Pick a key from the wooden cabinet and place it onto the round lute-shaped instrument mounted on the purple wall.", "scene_description": "A brown wooden cabinet stands against a purple wall, a silver metal bowl is on the cabinet top, multiple string instruments including a round lute and guitars are mounted on the wall near the cabinet, and a robotic arm is positioned in front of the cabinet.", "global_instruction_dense": "The right robotic arm moves into the wooden cabinet, grasps a key inside, lifts it, moves toward the round lute-shaped instrument on the purple wall, and places the key onto that instrument.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 506, "tasks": ["place tool"], "length": 330, "global_instruction": "Place the power tool with a red strap into the open brown wooden cabinet.", "scene_description": "A brown wooden cabinet with a silver metal bowl on its top stands against a purple wall, string instruments hang on the wall next to the cabinet, and a robotic arm is positioned near the cabinet.", "global_instruction_dense": "The right robotic arm moves downward toward the power tool with a red strap near the floor, grasps it, lifts it, moves it toward the open compartment of the brown wooden cabinet, places it inside the cabinet, then retracts away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 507, "tasks": ["place tool"], "length": 198, "global_instruction": "Place the red-handled scissors from the open drawer into the gray bowl on the countertop", "scene_description": "An open utensil drawer with scissors and wooden tools sits below a kitchen counter. The counter holds wooden spatulas, a gray bowl, a pot lid, and a metal pot on a gas stove in the background.", "global_instruction_dense": "The right robotic arm moves toward the open utensil drawer, grasps the red-handled scissors inside, lifts the scissors, moves them over the gray bowl on the countertop, releases them into the bowl, then moves away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 508, "tasks": ["place tool"], "length": 147, "global_instruction": "Retrieve the black-handled scissors from the open drawer and place them on the kitchen counter.", "scene_description": "A white kitchen counter holds wooden cooking spatulas, a black-handled metal spatula, a yellow scraper, a knife, a glass pot lid, and a gray bowl. A gas stove with metal utensil holders sits behind the counter. An open drawer below the counter contains black-handled scissors, other cutlery, and wooden cutting boards. A robotic arm is positioned above the stove area.", "global_instruction_dense": "The right robotic arm moves downward toward the open drawer under the counter, grasps the black-handled scissors inside the drawer, lifts the scissors upward, moves the scissors over the kitchen counter surface, and releases the scissors onto the counter next to the existing cooking utensils.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 509, "tasks": ["place tool"], "length": 162, "global_instruction": "Place the black scissors from the countertop into the open drawer below the counter.", "scene_description": "A light-colored kitchen countertop holds a wooden spatula, black scissors, a black-handled flat spatula, and a stainless steel pot from left to right. An open drawer below the counter contains sorted cutlery, and a gas stove is to the right of the counter with a robotic arm above the stove area.", "global_instruction_dense": "The right robotic arm moves from above the gas stove downward to the countertop, grasps the black scissors, lifts them, moves rightward over the open drawer, lowers the scissors, and releases them into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 510, "tasks": ["place tool"], "length": 216, "global_instruction": "Take the red-handled scissors from the open drawer and place them into the light grey bowl on the counter.", "scene_description": "A light grey bowl, wooden spatula, and metal spoon sit on a white kitchen counter. An open drawer below holds various cutlery including red-handled scissors, with a gas stove behind the counter.", "global_instruction_dense": "The right robotic arm moves toward the open kitchen drawer, grasps the red-handled scissors inside, lifts the scissors, moves them over the light grey bowl on the counter, and releases the scissors into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 511, "tasks": ["place tool"], "length": 198, "global_instruction": "Retrieve a pair of black scissors from the open kitchen drawer and place it on the kitchen counter.", "scene_description": "A light kitchen counter holds a gray bowl with red scissors and multiple utensils, a gas stove sits behind the counter, and an open drawer below holds various kitchen tools including wooden spatulas and knives.", "global_instruction_dense": "The right robotic arm moves downward to the open kitchen drawer, grasps the black scissors inside the drawer, lifts the scissors out of the drawer, moves it over the counter, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 512, "tasks": ["place tool"], "length": 159, "global_instruction": "Open the top left middle drawer of the brown cabinet, remove a tool from the drawer, then place the tool back into the drawer.", "scene_description": "A dark brown wooden cabinet with upper open shelves holding books, middle drawers, and lower closed doors stands against a purple wall on a light wooden floor. A white robotic arm is positioned to the right of the cabinet near its middle drawers.", "global_instruction_dense": "The right robotic arm moves left toward the top left middle drawer of the brown cabinet, grasps the drawer handle to pull the drawer open, reaches into the drawer to grasp a black tool with red accents, lifts the tool briefly, then lowers it back into the drawer and moves upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 513, "tasks": ["place tool"], "length": 179, "global_instruction": "Pick up the black scissors from the kitchen countertop and place them into the open utensil drawer.", "scene_description": "An open utensil drawer sits below a light-colored kitchen countertop. On the countertop, a grey bowl holding utensils, black scissors, wooden and metal kitchen tools are laid out, with a gas stove positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the black scissors on the kitchen countertop, grasps them with its gripper, lifts the scissors, moves them over the open utensil drawer, and places the scissors inside the drawer.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 514, "tasks": ["place tool"], "length": 173, "global_instruction": "Place the red scissors from the light gray bowl into the stainless steel bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a large silver stainless steel bowl, a smaller light gray bowl with red scissors inside, assorted kitchen utensils, and is adjacent to a stainless steel gas stove with a metal pot on its burners, above dark gray cabinets.", "global_instruction_dense": "The left robotic arm enters from the top of the frame, moves toward the light gray bowl on the counter, grasps the red scissors inside, lifts the scissors, moves them over the adjacent stainless steel bowl, and releases the scissors into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 515, "tasks": ["place tool"], "length": 130, "global_instruction": "Place the key with keychain on the desk into the grey mesh pen holder", "scene_description": "A white desk holds a black monitor at its rear, two grey mesh pen holders, a key with keychain, a small black tool, an orange pen, and a red folding knife. A bed is to the right of the desk.", "global_instruction_dense": "The right robotic arm moves toward the key with keychain on the white desk, grasps it with its gripper, lifts it, moves it left over the grey mesh pen holder, lowers it, and releases it into the pen holder.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 516, "tasks": ["place tool"], "length": 129, "global_instruction": "Place the small black wrench on the table into the rear mesh basket", "scene_description": "A white table holds two gray mesh baskets, with the front basket containing orange items, a small black wrench, and a black monitor at the far end. A bed is visible to the right of the table, with a curtain in the background.", "global_instruction_dense": "The right robotic arm enters the scene from the right, lowers to grasp the small black wrench on the white table, lifts the wrench, moves it over the rear gray mesh basket, and releases the wrench into the basket.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 517, "tasks": ["place tool"], "length": 171, "global_instruction": "Place the black key with a silver ring into the transparent pen holder on the white desk.", "scene_description": "A white desk holds a transparent mesh pen holder, an orange-and-black pen, a red pocket knife, and a black key with a silver ring, with a black monitor behind the items, a curtain to the left, and a bed to the right of the desk.", "global_instruction_dense": "The right robotic gripper moves toward the black key with a silver ring on the right side of the white desk, grasps the key, lifts it, moves left over the transparent pen holder, and releases the key into the pen holder.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 518, "tasks": ["place tool"], "length": 126, "global_instruction": "Pick up the key from the white table and place it into the silver mesh pouch.", "scene_description": "A white table holds a transparent plastic container with orange-capped items, small tools, a key, a silver mesh pouch, and a black monitor at the far end, with a grey curtain to the left of the table.", "global_instruction_dense": "The right robotic arm enters the scene, moves down to grasp the key on the table, lifts the key, moves it over the silver mesh pouch, and releases the key into the pouch.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 519, "tasks": ["place tool"], "length": 178, "global_instruction": "Place the red-handled scissors into the silver metal bowl on the kitchen counter.", "scene_description": "A white container with a green lid, a silver metal bowl, and red-handled scissors are on a white kitchen countertop. A sink sits behind the counter items, an open drawer is below the counter, and a white robotic arm is positioned near the sink.", "global_instruction_dense": "The left robotic arm moves toward the red-handled scissors on the countertop, grasps them, lifts the scissors, moves them over the silver metal bowl, and releases the scissors into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 520, "tasks": ["place tool"], "length": 196, "global_instruction": "Pick up the silver key from the white desk and place it into the small glass container on the desk.", "scene_description": "A white desk holding a black monitor, small tools including a silver key and red object, and a small glass container sits on a wooden floor. A bed with gray bedding is to the right of the desk, the desk's right lower drawer is open, and a robotic arm is positioned at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves from the right side of the frame toward the silver key on the white desk, grasps the key, lifts it, moves it over the small glass container on the desk, and releases the key into the container.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 521, "tasks": ["place tool"], "length": 270, "global_instruction": "Place the red-handled scissors near the kitchen sink into the open wooden drawer below the counter.", "scene_description": "A light-colored kitchen counter is below a window with white blinds, an open wooden drawer under the counter holds a metal strainer. On the counter, there is a stainless steel lidded pot, a green-lidded white container, a tall silver carafe, a small silver cup, a silver bowl, and a sink with a curved faucet at the far end of the counter, a white robotic arm is positioned at the right side of the scene.", "global_instruction_dense": "The left robotic arm moves toward the red-handled scissors near the kitchen sink, grasps and lifts the scissors, moves it over the open wooden drawer below the counter, and releases the scissors into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 522, "tasks": ["place tool"], "length": 446, "global_instruction": "Retrieve a pair of scissors from the open kitchen drawer and place them into the stainless steel pot next to the sink.", "scene_description": "A kitchen counter holds a stainless steel mixing bowl, metallic pitcher, green-lidded storage container, white rolling pin, small green herb, and a stainless steel pot next to a gooseneck sink faucet under a window with horizontal blinds. An open drawer beneath the counter holds kitchen utensils including scissors and serving spoons, a door with blinds is to the left of the counter, and a white robotic arm is positioned at the right of the scene.", "global_instruction_dense": "The left robotic arm moves downward toward the open kitchen drawer, grasps a pair of scissors from the utensils inside the drawer, lifts the scissors, moves them across the counter toward the sink, and places the scissors into the stainless steel pot positioned next to the sink.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 523, "tasks": ["place tool"], "length": 209, "global_instruction": "Pick a small black tool from the open drawer and place it on the white desk.", "scene_description": "A white desk holds a black monitor, two orange glue sticks, multiple colored pens, a clear container, and papers. An open tool drawer sits next to the desk, a bed is in the background, and a right robotic arm is positioned near the bed above the desk area.", "global_instruction_dense": "The right robotic arm moves down toward the open tool drawer, grasps a small black tool inside the drawer, lifts it, moves it over the white desk surface, lowers the tool, and releases it onto the desk.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 524, "tasks": ["place tool"], "length": 205, "global_instruction": "Pick up a small black tool from the open desk drawer and place it on the white desk surface.", "scene_description": "A white desk holds a black monitor, two orange glue sticks, various pens, and other stationery, with an open tool drawer below the desk, a bed with grey bedding in the background, and a robotic arm on the right side.", "global_instruction_dense": "The right robotic arm moves from above the bed toward the open desk drawer, grasps a small black tool inside the drawer, lifts it, moves it over the white desk, and places it next to other stationery on the desk.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 525, "tasks": ["place tool"], "length": 203, "global_instruction": "Place the scissors on the kitchen counter into the open under-counter drawer", "scene_description": "A light-colored kitchen counter holds a silver pot, small silver bowl, triangular metal tool, green-lidded container, and silver small pitcher. An open drawer with miscellaneous items sits under the counter, a white robotic arm is positioned near the sink behind the counter, windows with blinds are behind the sink, and a door with blinds is on the left.", "global_instruction_dense": "The right robotic arm moves toward the scissors on the kitchen counter, grasps the scissors, lifts them, moves them over the open under-counter drawer, lowers the scissors, and releases them into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 526, "tasks": ["place tool"], "length": 297, "global_instruction": "Pick up the white pen and red tool from the table and place them into the Amazon cardboard box.", "scene_description": "A wooden oval table with black legs rests on a gray bed. An Amazon cardboard box, a white pen, and a red tool are placed on the table. A gray metal cup, an orange-white glue stick, and a black phone lie on the bed, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper first moves toward the white pen on the table, grasps it, lifts it and places it into the Amazon cardboard box, then moves to grasp the red tool next to the box, lifts the tool, places it into the box, and finally moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 527, "tasks": ["place tool"], "length": 185, "global_instruction": "Pick up the dark tool on the table and place it into the open cardboard box on the table.", "scene_description": "A small table with a brown top and black legs sits on a grey bed. On the table are an open brown cardboard box, a white rectangular remote, a small dark tool, and a blue cylinder. The bed has light grey pillows, a blue blanket, a small grey case, a black cylinder, and an orange-white glue stick. A robotic arm is positioned above the table, with purple walls, a white door, black ottoman, and paper bag in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the dark tool on the table next to the white remote, grasps the tool with its gripper, lifts the tool, moves it over the open cardboard box, releases the tool to drop it into the box, then retracts upward away from the box.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 528, "tasks": ["place tool"], "length": 180, "global_instruction": "Pick up the black scissors on the countertop and place them into the open cutlery drawer.", "scene_description": "A kitchen scene with a stainless steel refrigerator on the left, an open cutlery drawer at the center, a pair of black scissors on the countertop left of the drawer, and a robotic arm positioned above the drawer, with a gas stove in the background.", "global_instruction_dense": "The right robotic arm moves left toward the black scissors on the countertop next to the open drawer, grasps the scissors, lifts them, moves right over the open cutlery drawer, lowers the scissors, and releases them into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 529, "tasks": ["place tool"], "length": 183, "global_instruction": "Place the red keychain from the cabinet's middle shelf into the open drawer below.", "scene_description": "A brown wooden cabinet with an open light-colored drawer holding small items and a small white box on its middle shelf stands against a purple wall next to a white door with brass knobs and a white light switch. A robotic arm is positioned to the right of the cabinet, with a brown couch and wooden floor visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the red keychain on the brown cabinet's middle shelf, grasps it, moves it over the open drawer beneath the shelf, releases the keychain into the drawer, then moves back away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 530, "tasks": ["place tool"], "length": 224, "global_instruction": "Remove the metal tool inside the wooden shape-sorting box and place it into the adjacent open wooden tray.", "scene_description": "A white office conference table has a right robotic arm positioned above its left side. On the table: a beige wooden shape-sorting box, an adjacent open beige wooden tray with a yellow block inside, a grey remote control, a blue spray bottle, a clear plastic box holding colorful small blocks, a golden tray, a white laptop, a small black screen device, and office chairs surround the table, with a wall-mounted screen displaying a Toyota logo in the background.", "global_instruction_dense": "The right robotic arm moves down toward the beige wooden shape-sorting box, lifts open its top lid, grasps the small metal tool inside the box, moves it over the adjacent open wooden tray, and releases the tool into the tray.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 531, "tasks": ["place tool"], "length": 501, "global_instruction": "Pick up the orange-handled screwdriver and reposition it on the kitchen table.", "scene_description": "A light wooden kitchen table holds an orange pumpkin on a red plate, a blue tumbler, a gray dustpan, an orange bowl with food, a purple-and-teal bowl, a white yoghurt cup, an orange-handled screwdriver, black markers, and assorted small items. A white dual-arm robot is positioned at the left of the table, with its right gripper above the left side of the table. The background features brown upper cabinets, a stainless steel fridge, a microwave, and a stove.", "global_instruction_dense": "The right robotic gripper first moves rightward across the table, then moves left to align above the orange-handled screwdriver, lowers to grasp the screwdriver, lifts it slightly, and repositions it on the wooden kitchen table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 532, "tasks": ["place tool"], "length": 275, "global_instruction": "Retrieve scissors from the red pencil holder and place them on the wooden table.", "scene_description": "A white robotic arm is positioned left of a light wooden table. On the table, a red pencil holder with scissors and colored pens sits left of a white cylindrical container, which is left of a large red plastic bowl. The background is a lab kitchen space with brown upper cabinets, a sink, and a whiteboard.", "global_instruction_dense": "The right robotic gripper moves toward the red pencil holder, grasps the scissors inside it, lifts the scissors out of the holder, moves the scissors left over the table, lowers them onto the table surface, and releases the scissors.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 533, "tasks": ["place tool"], "length": 913, "global_instruction": "Pick up the small metallic flat tool on the left section of the kitchen counter and place it near the silver electric kettle.", "scene_description": "A black kitchen counter holds a silver electric kettle, purple spray bottle, white paper towel roll, small metallic flat tool, and black dish rack with assorted items; a stainless steel sink with a white mug is to the counter's right, wooden upper cabinets are above, and a robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the small metallic flat tool on the left of the kitchen counter, grasps it, lifts and rotates the tool, moves it rightward across the counter, adjusts its grip multiple times, places the tool near the silver electric kettle, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 534, "tasks": ["place tool"], "length": 312, "global_instruction": "Pick up the small kitchen tool from the counter and place it into the black utensil holder.", "scene_description": "A dark grey kitchen counter holds a silver electric kettle, a white paper towel roll, a small black-and-silver kitchen tool, a black dish rack, and a stainless steel sink with a white patterned cup inside. Wooden upper cabinets are above the counter, blue chairs and whiteboards are in the background, and a white robotic arm is positioned to the left of the counter.", "global_instruction_dense": "The right robotic arm moves downward to grasp the small black-and-silver kitchen tool on the counter, lifts it, moves it right toward the black utensil holder, inserts the tool into the holder, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 535, "tasks": ["place tool"], "length": 265, "global_instruction": "Pick up the black level tool from the rear of the table and place it in front of the orange toy basketball.", "scene_description": "A light wooden table holds a red plate, orange toy basketball, small green cup, yellow cup, orange bowl, white paper roll, black level tool, white mug, dark water bottle, and white box from left to right; a white robotic arm is positioned to the left of the table, with a kitchen area (wooden cabinets, stainless steel fridge, microwave) in the background.", "global_instruction_dense": "The left robotic arm extends to the rear of the table to grasp the black level tool, lifts it, moves it forward to the area in front of the orange toy basketball on the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 536, "tasks": ["place tool"], "length": 481, "global_instruction": "Pick up the black level tool from the table and place it near the yellow cup", "scene_description": "A light wooden table in a kitchen setting holds a red plate, yellow cup, green small bowl, pink small bowl, orange pumpkin-shaped object, small red ball, white paper roll, white printed mug, dark water jug, and black level tool. A white robotic arm is positioned left of the table with its gripper raised.", "global_instruction_dense": "The left robotic arm moves downward toward the table, grasps the black level tool, lifts it, moves it toward the yellow cup, places it on the table near the yellow cup, then releases the tool and moves back to a raised position.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 537, "tasks": ["place tool"], "length": 1336, "global_instruction": "Take scissors from a red mug, place them on the table, then return them to the red mug.", "scene_description": "A light wooden table holds a red mug with scissors inside, a plate of crackers, assorted pens, a grey water bottle, and cleaning wipes. A white robotic arm is positioned above the left of the table, with a yellow storage shelf and black cabinets in the background.", "global_instruction_dense": "The right robotic arm extends toward the red mug on the table, grasps the scissors inside, lifts and moves them right to place on the table next to the cracker plate, then re-grasps the scissors, moves left, and places them back into the red mug before retracting upward.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 538, "tasks": ["place tool"], "length": 325, "global_instruction": "Place the black L-shaped tool from the left section of the table onto the right section of the table.", "scene_description": "A light wooden table holds two bright red bowls, a black L-shaped tool, a printed magazine, a green packaged item, and a brown cardboard box on its far right. A white left robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the black L-shaped tool on the left section of the wooden table, grasps it, lifts and moves it rightward to the center-right section of the table, releases it, then moves back left toward the red bowls.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 539, "tasks": ["place tool"], "length": 1114, "global_instruction": "Place the blue tool attached to the robotic arm onto the top layer of the dark storage shelf.", "scene_description": "A white robotic arm with a blue end effector is positioned in front of a dark multi-layer storage shelf. The shelf holds transparent plastic storage boxes, cardboard boxes, and small miscellaneous items; yellow and red plastic storage bins sit on metal shelves in the background.", "global_instruction_dense": "The right robotic arm moves the blue tool downward to the middle shelf region of the dark storage rack, adjusts its position near the transparent storage boxes, lifts the tool upward to the top shelf, adjusts the tool's placement on the top shelf, then moves the arm away from the placed blue tool.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 540, "tasks": ["place tool"], "length": 233, "global_instruction": "Take the scissors from the red bowl and place them on the wooden table to the right of the bowl.", "scene_description": "A light wooden table in the foreground holds a green-yellow packaged item, two small white cups, a red cup, a blue cup, a red bowl filled with pens and scissors, and a gray-rimmed white cup from left to right. A white robotic arm is positioned at the left edge adjacent to a dark cabinet, with an office workspace including a yellow storage shelf in the background.", "global_instruction_dense": "The left robotic arm moves toward the red bowl on the table, grasps the scissors inside the bowl, lifts and moves them rightward over the table, lowers and releases the scissors onto the table, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 541, "tasks": ["place tool"], "length": 495, "global_instruction": "Adjust the placement of the pair of scissors on the wooden table.", "scene_description": "A wooden table holds a green packaging bag, two small white potted plants, a red bowl, multiple colored markers, a blue cup, a red cup resting on a sheet of white paper, and a pair of scissors. A white robotic arm with black accents is positioned at the left side of the frame, with dark storage shelves, a tall yellow storage rack, and a background office workspace visible.", "global_instruction_dense": "The left robotic arm moves toward the pair of scissors on the lower right of the wooden table, grasps the scissors, adjusts their position on the table surface, then releases them and moves back upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 542, "tasks": ["place tool"], "length": 507, "global_instruction": "Reposition the black scissors on the wooden table to a new location.", "scene_description": "A light brown wooden table holds a green and yellow notebook on the far left, two small white plant pots, a blue plastic cup, a red bowl filled with pens, a pair of black scissors, and a red ceramic mug resting on white paper on the far right. A white robotic arm is positioned above the left side of the table, with an office background containing a black shelf, tall yellow storage rack, and grey filing cabinet.", "global_instruction_dense": "The left robotic arm descends toward the black scissors on the wooden table, grasps the scissors, lifts and moves it across the table surface, adjusts its placement multiple times, and finally places it in its new position.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 543, "tasks": ["place tool"], "length": 675, "global_instruction": "Reposition the black-handled scissors on the wooden table to adjust their orientation.", "scene_description": "A light wooden table holds a pair of black-handled scissors, a blue plastic cup, two small white cups, a green packaged item, a red bowl filled with pens, and a red mug. A white robotic arm with gray accents is positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm moves toward the black-handled scissors on the wooden table, grasps the scissors, lifts and rotates them to adjust their orientation, places them back onto the table in a new position, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 544, "tasks": ["place tool"], "length": 273, "global_instruction": "Move the black scissors on the wooden table to a new position", "scene_description": "A light wooden table holds black scissors, a blue plastic cup, a white mug, a green and white notebook, multiple colored pens, a red plastic bowl, and a red ceramic mug resting on a white paper sheet. A white robotic arm is positioned above the table, with an office environment including black shelves, bright yellow storage racks, and work desks in the background.", "global_instruction_dense": "The right robotic arm lowers from its initial position above the table, grasps the black scissors on the tabletop, adjusts their position slightly on the table, then releases the scissors and lifts back up to its original height.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 545, "tasks": ["place tool"], "length": 372, "global_instruction": "Place the red screwdriver from the table into the blue pen holder", "scene_description": "A light wooden lab table holds a large orange bowl, small red cup, blue pen holder, white mug, black scissors, red screwdriver, purple pen, green pencil, tape, and a green pack, with a white robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the red screwdriver on the wooden table, grasps it, lifts and moves it over the blue pen holder, releases the screwdriver into the holder, then returns to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
+{"episode_index": 546, "tasks": ["place tool"], "length": 275, "global_instruction": "Take a tool from the orange container and place it on the wooden table.", "scene_description": "A light wooden table holds a small white cup, an orange container filled with tools, scissors, a blue plastic cup, and a red plastic cup resting on a white sheet of paper. A white robotic arm is positioned above the left side of the table, with yellow storage racks and office workstations in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange tool container, grasps a tool inside it, lifts the tool, moves it above the section of the table to the right of the scissors, lowers the tool, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "tool", "object_category": "Hardware Tools & Mechanical Parts"}
diff --git a/datasets/droid/data/place__tool/meta/episodes_stats.jsonl b/datasets/droid/data/place__tool/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..65ed5d98d1dd3f86a3888897415873c08f010940
--- /dev/null
+++ b/datasets/droid/data/place__tool/meta/episodes_stats.jsonl
@@ -0,0 +1,547 @@
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diff --git a/datasets/droid/data/place__tool/meta/info.json b/datasets/droid/data/place__tool/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3294faf3600642aa72d11b99619cfb50499fe01e
--- /dev/null
+++ b/datasets/droid/data/place__tool/meta/info.json
@@ -0,0 +1,255 @@
+{
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+  "fps": 30,
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+      }
+    },
+    "observation.images.ext2": {
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+        "video.codec": "av1",
+        "has_audio": false,
+        "video.height": 480,
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+        "video.channels": 3,
+        "video.pix_fmt": "yuv420p",
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+      }
+    },
+    "observation.images.wrist": {
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+        640,
+        3
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+      "names": [
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+        "width",
+        "rgb"
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+        "video.codec": "av1",
+        "has_audio": false,
+        "video.height": 480,
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+        "video.channels": 3,
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false
+      }
+    }
+  },
+  "skill_category": "抓取/放置/传递 (Pick/Place/Carry)",
+  "scene_category": "抽象/桌面实验 (General Tabletop/Lab Bench)",
+  "camera_mapping": {
+    "observation.images.ext1": "external_1",
+    "observation.images.ext2": "external_2",
+    "observation.images.wrist": "right_wrist"
+  }
+}
\ No newline at end of file
diff --git a/datasets/droid/data/place__tool/meta/stats.json b/datasets/droid/data/place__tool/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1b7a22bb536c4b4c9833a6d46ce2dffac558412
--- /dev/null
+++ b/datasets/droid/data/place__tool/meta/stats.json
@@ -0,0 +1,761 @@
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