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+{"episode_index": 0, "tasks": ["place ball"], "length": 202, "global_instruction": "Place the tan baseball glove with the white ball on it into the black bowl on the table.", "scene_description": "A light wooden table in a robotics lab holds a tiny black dumbbell, a white plastic cup, a tan baseball glove with a small white ball on top, a black round bowl, and a small white oval device, with office desks and other lab equipment in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the tan baseball glove on the table, grasps the glove with the white ball on it, lifts it, moves it over the black bowl, and releases it into the bowl before moving upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
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+{"episode_index": 9, "tasks": ["place ball"], "length": 213, "global_instruction": "Place the orange disc onto a peg of the wooden peg rack", "scene_description": "A light brown wooden table holds an orange circular disc, a light brown wooden peg rack with multiple metal pegs, and two white vertical pegs on clear bases. The background is an office with chairs, desks, a filing cabinet, and studio lighting equipment.", "global_instruction_dense": "The right robotic gripper moves toward the orange disc on the table, grasps it, lifts it, moves it to the wooden peg rack, lowers the disc onto a peg of the rack, releases it, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 10, "tasks": ["place ball"], "length": 422, "global_instruction": "Place the two orange circular discs onto the pegs of the wooden pegboard on the table.", "scene_description": "A light wooden table sits in an open office workspace. On the table, a light brown wooden pegboard is at the center, two orange circular discs are to its right, and two clear vertical stands with white bases are to its left. Background includes office chairs, a metal storage cabinet, work desks, and a studio lighting rig, with the robotic arm initially outside the table area.", "global_instruction_dense": "The right robotic arm moves over the table, grasps an orange disc, places it on a peg of the wooden pegboard, then grasps a second orange disc, places it on an adjacent peg of the pegboard, and finally retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 11, "tasks": ["place ball"], "length": 537, "global_instruction": "Place the two orange discs on the table onto the clear vertical rod mounted on the wooden peg rack.", "scene_description": "A light brown wooden table holds a beige wooden peg rack, two orange circular discs, and two clear vertical rods. Office chairs, cabinets, and workstations are visible in the background.", "global_instruction_dense": "The right robotic gripper enters from the right of the frame, moves toward the orange disc beside the wooden peg rack, grasps and places it onto the clear rod on the peg rack, then moves toward the second orange disc on the right of the table, grasps and places it onto the same clear rod, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 12, "tasks": ["place ball"], "length": 339, "global_instruction": "Place an orange disc from the table onto a peg of the wooden peg rack", "scene_description": "A light wooden table in the foreground holds a wooden peg rack with multiple pegs, two orange circular discs, and two clear plastic upright stands. Office chairs, desks, equipment, and a studio light on a stand are in the background, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm enters the scene, grasps an orange disc from the table, moves it over the wooden peg rack, lowers and adjusts the disc to fit onto a peg of the rack, then releases the disc and retracts.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 13, "tasks": ["place ball"], "length": 673, "global_instruction": "Pick up an orange disc from the table and place it onto a peg of the wooden rack.", "scene_description": "A light brown wooden table is in the foreground, holding a wooden peg rack, two small white peg stands, and two orange circular discs. The background has office chairs, work desks, a studio light stand, and a small black side table with assorted small tools and containers.", "global_instruction_dense": "The right robotic arm enters from off-screen, moves down to grasp an orange disc on the table, lifts the disc, moves it to the wooden peg rack, adjusts to fit the disc onto a rack peg, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 14, "tasks": ["place ball"], "length": 408, "global_instruction": "Place an orange disc from the table onto a peg of the wooden peg rack.", "scene_description": "A light brown wooden table sits in an office lab space. On the table, there is a light brown wooden peg rack with vertical pegs, two orange circular discs, and two white plastic stands with vertical rods. Office chairs, storage cabinets, and a lighting stand are in the background.", "global_instruction_dense": "The right robotic arm moves from off the right edge of the frame toward an orange disc on the table, grasps the disc, lifts it, moves it over the wooden peg rack, lowers it onto one of the rack's pegs, then releases the disc and moves away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 15, "tasks": ["place ball"], "length": 442, "global_instruction": "Pick up an orange disc from the wooden table and place it onto the wooden pegboard.", "scene_description": "A light brown wooden table holds a wooden pegboard with metal pegs, two orange circular discs, and two vertical white pegs. The surrounding office environment has grey office chairs, a dark storage cabinet, a studio light on a stand, and office workstations in the background, with no robotic arm visible in the initial frame.", "global_instruction_dense": "The right robotic arm enters from the right of the frame, moves to the orange disc on the table, grasps the disc, lifts it, moves it over the wooden pegboard, lowers the disc onto a peg of the board, releases the disc, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 16, "tasks": ["place ball"], "length": 195, "global_instruction": "Place an orange circular disc onto a peg of the wooden base on the table.", "scene_description": "A light brown wooden table holds a slotted wooden peg base, two orange circular discs, and two small fixed vertical pegs. An open office workspace with chairs, desks, and electronic equipment forms the background.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, moves down to grasp an orange disc on the table, lifts the disc, moves it to the wooden peg base, lowers it onto a peg of the base, releases the disc, and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 17, "tasks": ["place ball"], "length": 429, "global_instruction": "Place an orange ring-shaped disc onto a peg of the wooden peg rack on the worktable.", "scene_description": "A light wooden worktable in a lab office holds a light brown peg rack with metal pegs, two orange ring-shaped discs, and two white plastic peg stands, with office chairs, desks and lab equipment in the background.", "global_instruction_dense": "The right robotic gripper moves into the frame over the worktable, grasps an orange ring-shaped disc, moves it to the wooden peg rack, lowers and releases the disc onto a peg of the rack, then lifts away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 18, "tasks": ["place ball"], "length": 599, "global_instruction": "Place an orange ring-shaped disc onto a peg of the wooden peg rack on the table.", "scene_description": "A light brown wooden table holds two orange ring-shaped discs on its right half, a light wooden peg rack with multiple small vertical pegs at its center, and two tall white plastic pegs on stands to the left of the peg rack, with office furniture including chairs and work desks in the background.", "global_instruction_dense": "The right robotic arm enters from off-screen right, moves toward the lower orange ring-shaped disc on the table, grasps and lifts it, repeatedly adjusts its position to align with a peg on the wooden peg rack, and releases the disc to place it onto the peg.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 19, "tasks": ["place ball"], "length": 684, "global_instruction": "Place all orange discs on the wooden table onto the metal pegs of the wooden pegboard.", "scene_description": "A light brown wooden table holds three orange circular discs, a rectangular wooden pegboard with upright metal pegs, and two white plastic stands with tall thin pegs. The table is in an office environment with office chairs, desks, and storage cabinets in the background, and a robotic arm is positioned off the right edge of the table.", "global_instruction_dense": "The right robotic arm moves to each orange disc on the wooden table in sequence, grasps each disc, lifts it, moves it to the wooden pegboard, lowers and releases it onto an empty metal peg until all discs are placed on the pegboard.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 20, "tasks": ["place ball"], "length": 192, "global_instruction": "Place an orange ring disc onto a peg of the wooden peg rack", "scene_description": "A light wooden table sits in an office workspace. On the table, a wooden peg rack with metal pegs is centered, two orange ring discs are to its right, and two separate vertical white pegs are to its left. Office chairs, a tool cabinet, and work desks are in the background.", "global_instruction_dense": "The right robotic arm extends from the right side of the frame toward the orange discs on the table, grasps one orange disc, lifts it, moves it over the wooden peg rack, lowers it onto a peg of the rack, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 21, "tasks": ["place ball"], "length": 179, "global_instruction": "Place an orange disc from the table onto a peg of the wooden pegboard", "scene_description": "A light brown wooden table holds two white vertical rod stands, two orange circular discs, and a wooden pegboard with multiple upward pegs, in an office workspace with chairs, cabinets and workstations in the background.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, moves toward an orange disc on the table, grasps the disc, lifts it, moves it to the wooden pegboard, lowers the disc onto one of the pegboard's pegs, then releases the disc and lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 22, "tasks": ["place ball"], "length": 198, "global_instruction": "Place an orange disc from the table onto a metal peg of the wooden peg rack", "scene_description": "A wooden table in a robotics lab holds a light brown wooden peg rack with metal pegs, two orange ring-shaped discs to the right of the rack, and two tall white pegs on stands to the left of the rack. A robotic arm is positioned above the upper right of the table, with lab furniture and workstations in the background.", "global_instruction_dense": "The right robotic arm moves down toward an orange disc on the table, grasps it, lifts it, moves it over the wooden peg rack, lowers it onto one of the rack's metal pegs, releases the disc, and moves upward away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 23, "tasks": ["place ball"], "length": 428, "global_instruction": "Place an orange ring disc onto a metal peg of the wooden peg base on the table.", "scene_description": "A light brown wooden table holds two orange ring-shaped discs and a wooden peg base with vertical metal pegs, set in an open office workspace.", "global_instruction_dense": "The right robotic arm moves over the table, grasps an orange ring disc, lifts it, moves it to the wooden peg base, lowers the disc onto a metal peg, then releases the disc and moves away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 24, "tasks": ["place ball"], "length": 282, "global_instruction": "Place an orange disc onto a peg of the wooden peg rack on the table.", "scene_description": "A wooden table holds two orange ring discs, a wooden peg rack with upright metal pegs, and two white vertical stands left of the rack. A robotic arm is at the top right, in a lab office with chairs, work desks, large windows and other lab equipment in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the lower orange disc on the wooden table, grasps it with its gripper, lifts the disc, moves it over the wooden peg rack, lowers it onto one of the rack's pegs, and releases the disc to rest on the peg.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 25, "tasks": ["place ball"], "length": 630, "global_instruction": "Place the small orange round disc onto the wooden peg rack on the table.", "scene_description": "A light wooden tabletop holds a wooden peg rack with vertical metal pegs, two white single-post stands, and a small orange round disc. A robotic arm is at the upper right, with an office environment (grey chair, dark tool cabinet, background work desks) visible.", "global_instruction_dense": "The right robotic arm moves from its initial raised position toward the orange disc on the table, adjusts position to align for grasping, closes its gripper to grasp the disc, lifts the disc, moves it over the wooden peg rack, lowers the disc onto one of the rack's pegs, and releases the disc to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 26, "tasks": ["place ball"], "length": 286, "global_instruction": "Place an orange disc from the wooden table onto a peg of the wooden pegboard.", "scene_description": "A light brown wooden table holds two white vertical stands, a wooden pegboard with multiple metal pegs, and two orange discs, with a robotic arm at the top right of the frame in an office with chairs, cabinets, and desks in the background.", "global_instruction_dense": "The right robotic arm moves downward to grasp a lower orange disc on the wooden table, lifts it, moves it over the wooden pegboard, lowers it onto a peg of the board, and releases the disc to set it on the peg.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 27, "tasks": ["place ball"], "length": 453, "global_instruction": "Place an orange ring disc from the table onto a peg of the wooden pegboard.", "scene_description": "A wooden lab table holds two white vertical post stands, a wooden pegboard with small pegs, and two orange ring-shaped discs to the right of the pegboard. A robotic arm is at the top right edge of the frame, with office chairs, storage cabinets, and work desks in the background.", "global_instruction_dense": "The right robotic arm moves toward an orange ring disc on the wooden table, grasps the disc, lifts it, moves it over the wooden pegboard, aligns it with a peg, lowers the disc onto the peg, releases it, and lifts away from the pegboard.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 28, "tasks": ["place ball"], "length": 316, "global_instruction": "Place an orange disc onto a metal peg on the wooden peg rack.", "scene_description": "A light brown wooden table holds two orange circular discs, a wooden peg rack with multiple metal pegs, and two tall white vertical pegs. A robotic arm is at the upper right, with office chairs, cabinets, and workstations in the background.", "global_instruction_dense": "The right robotic arm moves down toward the lower orange disc on the table, grasps it, lifts it, moves it over the wooden peg rack, lowers it onto a metal peg of the rack, releases the disc, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 29, "tasks": ["place ball"], "length": 203, "global_instruction": "Place an orange disc from the table onto the wooden pegboard.", "scene_description": "A light wooden table is in the foreground, with two orange circular discs on its right half, a rectangular wooden pegboard with vertical metal pegs at its center, and two white rod stands to the left of the pegboard; a robotic arm is positioned above the right side of the table, with office workstations, chairs, and large windows in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the upper orange disc on the wooden table, grasps it, lifts it, moves it over the wooden pegboard, lowers it onto one of the pegboard's metal pegs, and then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 30, "tasks": ["place ball"], "length": 339, "global_instruction": "Place an orange ring disc from the table onto a peg of the wooden peg base.", "scene_description": "A light wooden work table holds two orange ring discs, a wooden peg base with metal pegs, and two vertical white rods. A grey office chair is left of the table, an ABB robot base sits to the right, and the background is an open office lab space; the robotic arm is initially out of frame.", "global_instruction_dense": "The right robotic arm enters from the upper right, moves down to grasp an orange ring disc on the table, lifts the disc, transports it over the wooden peg base, lowers it onto one of the base's pegs, then releases the disc and retracts away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 31, "tasks": ["place ball"], "length": 433, "global_instruction": "Place an orange ring-shaped disc onto a metal peg of the wooden peg rack on the table", "scene_description": "A light brown wooden table holds two orange ring-shaped discs, a wooden base with multiple vertical metal pegs; a grey office chair is left of the table, with an open office space (desks, people, large windows) in the background, and a robotic arm is positioned off-camera at the right of the table initially.", "global_instruction_dense": "The right robotic gripper descends to grasp an orange disc on the table, lifts and moves the disc over the wooden peg rack, aligns it with a metal peg, lowers the disc onto the peg, then releases the disc and lifts away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 32, "tasks": ["place ball"], "length": 265, "global_instruction": "Place an orange disc from the table onto a peg of the wooden peg rack.", "scene_description": "A light brown wooden worktable holds a light wooden peg rack with upright metal pegs, two orange circular discs, and two white vertical pegs. A right robotic arm is positioned above the right side of the table in a lab office space.", "global_instruction_dense": "The right robotic arm moves toward the upper orange disc on the worktable, grasps it, lifts the disc, moves it over the wooden peg rack, lowers it, and places it onto one of the pegs of the rack.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 33, "tasks": ["place ball"], "length": 196, "global_instruction": "Pick up an orange disk and place it onto the wooden peg rack on the table.", "scene_description": "A light wooden table holds a light brown wooden peg rack, two orange circular disks, and two white vertical pegs. A Franka Emika robotic arm is positioned at the top right, with an ABB robotic base beside the table, in an office lab with desks and workers in the background.", "global_instruction_dense": "The right robotic arm moves down from the upper right toward the table, grasps an orange disk, lifts it, moves it to the wooden peg rack, lowers it, and releases it onto a peg of the rack.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 34, "tasks": ["place ball"], "length": 294, "global_instruction": "Place an orange disc from the table onto a peg of the wooden peg rack", "scene_description": "A light wooden table holds two orange discs, a central wooden peg rack with metal pegs, and two white rod stands left of the rack. A grey office chair and dark tool chest are left of the table, and an office workspace is in the background.", "global_instruction_dense": "The right robotic arm moves from out of frame toward the table, grasps an orange disc, lifts it, moves it to the wooden peg rack, lowers it onto a rack peg, and releases the disc.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 35, "tasks": ["place ball"], "length": 597, "global_instruction": "Place an orange disc onto a metal peg of the wooden peg rack on the table.", "scene_description": "A light wooden table holds two orange ring-shaped discs, a wooden peg rack with multiple metal pegs, and two tall white vertical pegs to the left of the rack, in an office lab with surrounding chairs, cabinets and computers.", "global_instruction_dense": "The right robotic gripper moves toward the upper orange disc on the table, grasps and lifts it, moves it over the wooden peg rack, aligns it with a metal peg, lowers it onto the peg, and releases the disc to rest on the peg.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 36, "tasks": ["place ball"], "length": 303, "global_instruction": "Place an orange disc from the table onto a metal peg of the wooden peg rack", "scene_description": "A light brown wooden table is in a lab office environment. On the table, two orange ring discs are positioned on the right half, a wooden peg rack with metal pegs sits at the center, and two tall white vertical pegs are to the left of the peg rack. A robotic arm is at the upper right of the table, with office furniture and workstations in the background.", "global_instruction_dense": "The right robotic arm moves from its starting upper right position down toward the orange discs on the table, grasps one orange disc, lifts it, moves it horizontally above the wooden peg rack, lowers the disc onto a metal peg of the rack, releases the disc, then moves upward away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 37, "tasks": ["place ball"], "length": 245, "global_instruction": "Place an orange disc from the wooden worktable onto the wooden peg rack", "scene_description": "A wooden worktable holds two orange discs on its right side, a wooden peg rack with metal pegs at its center, and two tall white pegs to the left of the rack. A robotic arm is positioned at the right side of the table in an office lab environment.", "global_instruction_dense": "The left robotic arm moves toward an orange disc on the right section of the wooden worktable, grasps the disc with its gripper, lifts it, moves it over the wooden peg rack, lowers it onto a metal peg of the rack, and releases the disc.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 38, "tasks": ["place ball"], "length": 236, "global_instruction": "Pick up an orange disc from the table and place it onto a peg of the wooden pegboard.", "scene_description": "A wooden table has two orange discs on its right side, a wooden pegboard with upright pegs at its center, and two white vertical stands left of the pegboard; a robotic arm is positioned to the right of the table, with office desks, chairs and people in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the orange discs on the right of the wooden table, grasps one orange disc with its gripper, lifts the disc, moves it leftward over the center wooden pegboard, lowers the disc to align with a peg, and releases the disc onto the peg.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 39, "tasks": ["place ball"], "length": 232, "global_instruction": "Pick up an orange disc from the table and place it onto the wooden peg rack.", "scene_description": "A light wooden table in an office workspace holds two orange ring discs, two white upright rods, and a wooden peg rack with metal pegs.", "global_instruction_dense": "The right robotic arm moves from the upper right down toward the table, grasps an orange disc, lifts and moves it over the wooden peg rack, places the disc onto one of the rack's pegs, then lifts away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 40, "tasks": ["place ball"], "length": 259, "global_instruction": "Pick up an orange ring disc and place it on the wooden peg rack.", "scene_description": "A light brown wooden worktable holds two orange ring discs, two white vertical stands, and a wooden peg rack with metal pegs, with a collaborative robotic arm at the top right of the frame in an open lab office.", "global_instruction_dense": "The right robotic arm moves over the worktable, grasps one orange ring disc, lifts it, moves it to the wooden peg rack, and releases it onto a peg of the rack.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 41, "tasks": ["place ball"], "length": 1109, "global_instruction": "Place the orange discs on the table onto the pegs of the wooden rack.", "scene_description": "A light wooden table holds three orange circular discs, a rectangular wooden peg rack with vertical metal pegs at its center, and two tall white standalone pegs to the left of the rack. A robotic arm is positioned at the top right of the table, in an office lab environment with desks, office chairs, and large windows in the background.", "global_instruction_dense": "The right robotic arm sequentially moves to each orange disc on the table, grasps each disc, aligns it with a peg on the wooden rack, and places the disc onto the peg, placing multiple discs across the sequence.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 42, "tasks": ["place ball"], "length": 222, "global_instruction": "Place an orange disc onto the wooden peg rack on the table", "scene_description": "A wooden table holds two orange discs, a wooden peg rack with metal pegs, and two white upright pegs. A gray office chair sits left of the table, with office workstations, computers, and large windows in the background.", "global_instruction_dense": "The right robotic arm moves into the frame from the top right, approaches and grasps an orange disc on the wooden table, lifts and moves it over the wooden peg rack, lowers the disc onto a peg of the rack, then releases the disc and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 43, "tasks": ["place ball"], "length": 100, "global_instruction": "Place a small orange ball into the silver metal cup on the table.", "scene_description": "A light brown wooden table holds a small silver metal cup, with two small orange balls next to the cup. Two white robotic arms are positioned above the right side of the table, with a person in the background.", "global_instruction_dense": "The left robotic arm moves down toward the small orange ball next to the silver cup, grasps the ball, lifts it, moves it over the cup opening, releases the ball into the cup, then moves upward away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 44, "tasks": ["place ball"], "length": 133, "global_instruction": "Pick up the orange ball and place it into the silver metal cup", "scene_description": "A silver metal cup and an orange ball are placed on a light wooden table, the orange ball sits to the right of the cup, a robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper moves toward the orange ball on the table, grasps it, lifts it, moves it over the silver cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 45, "tasks": ["place ball"], "length": 94, "global_instruction": "Place an orange ball on the table into the small silver metal cup.", "scene_description": "A small silver metal cup and two orange spherical balls are placed on a light brown wooden table, the balls are to the right of the cup, a colorful vertical striped wall is on the left of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the orange balls next to the silver cup on the wooden table, grasps an orange ball with its gripper, lifts the ball upward, moves it over the silver cup, releases the ball into the cup, then lifts its gripper away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 46, "tasks": ["place ball"], "length": 132, "global_instruction": "Place the orange ball into the silver metal cup on the wooden table", "scene_description": "A light wooden table holds a small silver metal cup, two orange round balls beside the cup, and a small black object. A robotic arm is positioned to the right of the table, with a colorful vertical striped wall behind the left side of the table.", "global_instruction_dense": "The right robotic arm moves from its initial position toward the orange ball next to the silver metal cup, grasps the orange ball, lifts it, moves it above the silver cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 47, "tasks": ["place ball"], "length": 151, "global_instruction": "Pick the blue disc from the wooden peg base and place it on the wooden table surface.", "scene_description": "A light wooden table holds a wooden peg base with vertical pegs and a blue circular disc resting on the base, with a right robotic arm positioned above the table in a robotics lab office.", "global_instruction_dense": "The right robotic arm moves toward the blue disc on the wooden peg base, grasps the disc, lifts it, moves it rightward over the empty table surface, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 48, "tasks": ["place ball"], "length": 133, "global_instruction": "Pick the blue disk from the peg base and place it on the wooden worktable.", "scene_description": "A light brown wooden worktable is in the foreground, with a rectangular wooden peg base holding four vertical pegs and a blue circular disk resting on one peg. A white robotic arm is positioned at the right of the table, and a lab office space with working people, a RALENO lighting softbox, and office desks are in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the blue disk on the peg base, grasps the disk, lifts it away from the peg, moves it slightly toward the table surface next to the base, and releases it onto the wooden table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 49, "tasks": ["place ball"], "length": 101, "global_instruction": "Pick the blue disk from the pegboard and place it on the wooden table surface.", "scene_description": "A light wooden table holds a wooden pegboard with three vertical pegs and a blue circular disk on the pegboard's right end, with a robotic arm positioned to the right of the table in an office workspace.", "global_instruction_dense": "The right robotic arm moves toward the blue disk on the pegboard, grasps it, lifts it, moves it rightward over the table, releases the disk onto the table surface, then retracts back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 50, "tasks": ["place ball"], "length": 119, "global_instruction": "Place the blue disc from the wooden peg board onto the wooden worktable surface.", "scene_description": "A light wooden worktable is in the foreground, a wooden peg board with three vertical pegs and a blue disc on the board sits at the center of the table, a smaller round wooden stool is to the left of the worktable, a white robotic arm is positioned to the right of the worktable, a RALENO branded photography light is on the left side of the scene, and the background is an open office lab with workstations and people.", "global_instruction_dense": "The right robotic arm moves from its resting position at the right of the table toward the blue disc on the wooden peg board, grasps the blue disc, lifts it off the peg board, moves it slightly rightward over the table surface, lowers it, releases it onto the table, then retracts back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 51, "tasks": ["place ball"], "length": 111, "global_instruction": "Place the blue disk from the wooden peg base onto the worktable surface.", "scene_description": "A light brown wooden worktable holds a wooden peg base with three pegs and a blue circular disk on the base. A small oval light wood stool sits to the left of the worktable, a white robotic arm is positioned to the right of the table, a RALENO studio light on a stand is to the left, and an open office area is in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the blue disk on the wooden peg base, grasps the disk, lifts it off the base, moves it rightward over the worktable, lowers it, and releases it onto the worktable surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 52, "tasks": ["place ball"], "length": 135, "global_instruction": "Remove the blue disc from the wooden peg board and place it on the wooden table.", "scene_description": "A light brown rectangular wooden table in the foreground holds a wooden peg board with a blue circular disc on it. A robotic arm is positioned to the right of the table, a small round wooden stool sits to the left of the main table, and the background is an open office with workstations and personnel.", "global_instruction_dense": "The right robotic arm moves toward the blue disc on the wooden peg board, grasps the disc, lifts it off the peg, moves it over the table surface to the right of the peg board, and releases the disc onto the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 53, "tasks": ["place ball"], "length": 106, "global_instruction": "Pick the blue disc from the wooden peg fixture and place it on the wooden table.", "scene_description": "A light brown wooden table is in the foreground, with a wooden peg fixture holding a blue disc on its surface. A white robotic arm is positioned to the right of the table, and office workstations, a RALENO photography light, and other office equipment are in the background.", "global_instruction_dense": "The right robotic arm moves down toward the blue disc on the wooden peg fixture on the table, grasps the blue disc, lifts it, and releases it onto the wooden table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 54, "tasks": ["place ball"], "length": 168, "global_instruction": "Pick the blue disc from the peg base and place it on the wooden table", "scene_description": "A light brown wooden table is at the center, with a rectangular wooden peg base holding three vertical metal pegs and a blue circular disc placed on the base. A small round wooden stool is to the left of the table, a RALENO lighting softbox stands in the left background, and office workstations are in the far background, with a white robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the blue disc resting on the wooden peg base on the table, grasps the disc with its gripper, lifts it, moves it to a clear spot on the table adjacent to the base, and releases the disc onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 55, "tasks": ["place ball"], "length": 99, "global_instruction": "Pick the blue disc from the wooden peg rack and place it on the wooden table", "scene_description": "A light brown wooden table is in a robotics lab, with a wooden peg rack holding three metal pegs and a blue disc placed on the table. A white robotic arm is positioned to the right of the table, with lab lighting, office desks, and a background worker visible.", "global_instruction_dense": "The right robotic arm moves toward the blue disc on the wooden peg rack, grasps the disc, lifts it, moves it rightward over the table surface, and releases the blue disc onto the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 56, "tasks": ["place ball"], "length": 134, "global_instruction": "Pick the blue disc from the wooden peg base and place it on the adjacent wooden table surface.", "scene_description": "A light brown wooden worktable holds a rectangular wooden peg base with three vertical metal pegs and a blue circular disc resting on the right end of the base. A white robotic arm is positioned above the upper right of the table, and a RALENO studio light, gray storage cabinets, and office workstations are visible in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the blue disc on the wooden peg base, grasps the disc with its gripper, lifts the disc upward, moves it rightward over the table, lowers it, releases it onto the table surface, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 57, "tasks": ["place ball"], "length": 123, "global_instruction": "Pick the blue disc from the wooden peg base and place it on the wooden table.", "scene_description": "A light brown wooden table holds a rectangular wooden peg base with three pegs and a blue circular disc on the base. A robotic arm is positioned to the right of the table, with an office workspace and a RALENO softbox light in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the wooden peg base on the table, grasps the blue disc on the base, lifts the disc, moves it a short distance, and releases it onto the wooden table surface beside the peg base.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 58, "tasks": ["place ball"], "length": 120, "global_instruction": "Place the blue disc from the peg base onto the wooden table surface.", "scene_description": "A light brown wooden table holds a wooden peg base with three metal pegs and a blue circular disc. A robotic arm is positioned to the right of the table, with office workspaces in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue disc on the peg base, grasps it, lifts it, moves it slightly right, and releases it onto the wooden table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 59, "tasks": ["place ball"], "length": 189, "global_instruction": "Pick the blue disk from the wooden peg base and place it on the wooden table surface.", "scene_description": "A light brown wooden table holds a wooden peg base with three metal pegs and a blue circular disk on the base. A robotic arm is positioned to the right of the table, with an office workspace including desks, monitors, and a black RALENO lighting softbox in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue disk on the wooden peg base, grasps the disk, lifts it, moves it to the right of the peg base, and releases it onto the wooden table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 60, "tasks": ["place ball"], "length": 107, "global_instruction": "Pick the blue disc from the wooden peg rack and place it on the wooden table surface.", "scene_description": "A light wooden table holds a wooden peg rack with three metal pegs, a blue circular disc, and a small silver component on the rack. A white robotic arm is positioned above the right side of the table, a small light wooden stool is to the table's left, and office workstations fill the background.", "global_instruction_dense": "The right robotic arm moves down toward the wooden peg rack on the table, grasps the blue disc on the rack, lifts the disc, moves it over the empty table area, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 61, "tasks": ["place ball"], "length": 103, "global_instruction": "Pick the blue disk from the pegboard and place it on the empty area of the wooden table.", "scene_description": "A light brown wooden table is in the foreground, with a wooden pegboard holding three pegs and a blue disk on its surface. A right robotic arm is positioned at the upper right, a small oval wooden side table is to the left of the main table, and office workspaces are in the background.", "global_instruction_dense": "The right robotic arm moves from its initial upper right position toward the blue disk on the wooden pegboard, grasps the disk, lifts it, moves it to the empty table area next to the pegboard, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 62, "tasks": ["place ball"], "length": 117, "global_instruction": "Pick the blue disk from the wooden pegboard and place it on the wooden table.", "scene_description": "A light brown wooden table sits in a robotics lab office. A wooden pegboard with a blue disk on it is placed on the table center, a white robotic arm is to the table's right, and a RALENO lighting softbox is to the table's left with office workspaces in the background.", "global_instruction_dense": "The right robotic arm moves toward the wooden pegboard on the table, grasps the blue disk resting on the pegboard, lifts the blue disk upward, moves it slightly right, then releases the disk to drop it onto the wooden table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 63, "tasks": ["place ball"], "length": 105, "global_instruction": "Pick the blue disk from the wooden peg base and place it on the adjacent wooden table surface.", "scene_description": "A light brown wooden table is at the center, with a rectangular wooden peg base holding three vertical pegs and a blue circular disk resting on the base. A white robotic arm is positioned to the right of the table, a small oval light brown stool is to the left of the table, and office workstations with monitors are in the background.", "global_instruction_dense": "The right robotic arm moves from its position to the right of the table over the table toward the blue disk on the peg base, lowers its gripper to grasp the disk, lifts the disk, moves it to above the empty table surface next to the peg base, and releases the disk onto the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 64, "tasks": ["place ball"], "length": 102, "global_instruction": "Pick up the blue disk from the wooden peg rack and place it on the wooden table.", "scene_description": "A light brown wooden table holds a wooden peg rack with three vertical pegs, and a blue circular disk rests on the right end of the peg rack. A right robotic arm is positioned above the right side of the table in an office lab setting.", "global_instruction_dense": "The right robotic arm moves from its initial raised position on the right toward the blue disk on the wooden peg rack, grasps the disk, lifts it, moves it slightly rightward above the table, and releases it onto the table surface next to the peg rack.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 65, "tasks": ["place ball"], "length": 118, "global_instruction": "Pick up the blue circular disc from the wooden peg base and place it on the wooden table.", "scene_description": "A light brown wooden table holds a rectangular wooden peg base with three upright pegs and a blue circular disc on the base. A robotic arm is positioned to the right of the table, with a RALENO lighting setup to the left of the table in an open office lab environment.", "global_instruction_dense": "The right robotic arm moves from its initial position toward the blue disc on the wooden peg base, grasps the disc, lifts it away from the base, moves it to a spot on the table beside the base, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 66, "tasks": ["place ball"], "length": 120, "global_instruction": "Pick the blue disc from the pegboard and place it on the worktable surface", "scene_description": "A wooden pegboard with three metal pegs and a blue disc rests on a light wooden worktable. A right robotic arm is positioned above the table, with an office lab space including desks, computers, and a RALENO lighting rig in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the blue disc on the wooden pegboard, grasps the blue disc, lifts it, moves it to a clear empty area of the worktable, then releases the disc onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 67, "tasks": ["place ball"], "length": 107, "global_instruction": "Pick up the blue disc from the peg base and place it on the wooden table", "scene_description": "A light brown wooden table holds a beige peg base with three metal pegs and a blue circular disc on the base. A white robotic arm is positioned to the right of the table, with an office workspace, small round wooden stool, and RALENO lighting equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue disc on the peg base, grasps the disc, lifts it, moves it rightward over the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 68, "tasks": ["place ball"], "length": 94, "global_instruction": "Pick the blue disc from the wooden peg base and place it on the worktable surface.", "scene_description": "A light brown wooden worktable is in the foreground, with a wooden peg base holding three pegs and a blue circular disc on the base. A white robotic arm is positioned to the right of the table, and an office space with desks, computers, a RALENO lighting softbox, and a small round wooden stool are in the surrounding area.", "global_instruction_dense": "The right robotic arm moves down toward the blue disc on the wooden peg base on the worktable, grasps the disc, lifts it off the peg, moves it to the adjacent worktable surface, releases the disc, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 69, "tasks": ["place ball"], "length": 118, "global_instruction": "Pick the blue disc from the peg base and place it on the wooden table surface.", "scene_description": "A light wooden table holds a rectangular wooden peg base with three vertical pegs and a blue circular disc resting on the base's right end. A small oval wooden stool sits left of the table, a black RALENO softbox light is at the far left, a white robotic arm is to the right of the table, and office desks with monitors are in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the blue disc on the wooden peg base, grasps the disc, lifts it off the base, moves it slightly to the right, lowers it onto the table surface, then retracts upward after releasing the disc.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 70, "tasks": ["place ball"], "length": 96, "global_instruction": "Pick the blue disc from the peg base and place it on the wooden worktable.", "scene_description": "A wooden worktable is in the center, with a wooden peg base holding three vertical pegs and a blue disc resting on the base. A right robotic arm is positioned to the right of the table, a small oval wooden stool sits to the left of the worktable, and office workstations with computers and supplies are in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue disc on the wooden peg base, grasps the disc, lifts it, moves it rightward above the worktable surface, lowers the disc, and releases it onto the table to the right of the peg base.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 71, "tasks": ["place ball"], "length": 178, "global_instruction": "Place the blue disk from the wooden peg base onto the wooden table surface.", "scene_description": "A light brown wooden table holds a rectangular wooden peg base with three upright pegs and a blue circular disk resting on the base. A right robotic arm is positioned above the right side of the table, with an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the blue disk on the wooden peg base, grasps the disk, lifts it off the base, moves it rightward over the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 72, "tasks": ["place ball"], "length": 139, "global_instruction": "Pick the blue disc from the peg board and place it on the wooden table surface.", "scene_description": "A light wooden table holds a rectangular wooden peg board with three pegs and a blue circular disc on the board. A right robotic arm is positioned to the right of the table, a small wooden stool sits left of the table, and a RALENO studio light is in the left foreground, with office desks and computers in the background.", "global_instruction_dense": "The right robotic arm moves down toward the blue disc on the wooden peg board on the table, grasps the disc, lifts it, moves it rightward over the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 73, "tasks": ["place ball"], "length": 110, "global_instruction": "Remove the blue disk from the wooden peg toy and place it on the wooden table.", "scene_description": "A light brown rectangular wooden table is at the center, with a wooden peg toy holding a blue circular disk on it. A right robotic arm is positioned to the right of the table, a small oval wooden side table is to the left of the main table, and office workstations with monitors and a RALENO lighting softbox are in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue disk on the wooden peg toy, grasps the disk, lifts it away from the pegs, moves it to an empty spot on the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 74, "tasks": ["place ball"], "length": 114, "global_instruction": "Place the blue disc from the wooden peg base onto the wooden table surface.", "scene_description": "A rectangular wooden table is at the center, holding a wooden peg base with three metal pegs and a blue circular disc on the base. A white robotic arm is positioned to the right of the table, a RALENO studio light is to the left of the table, and a small oval wooden side table is next to the main table's left edge. The background is an office space with desks, computers, and chairs.", "global_instruction_dense": "The right robotic arm moves toward the blue disc on the wooden peg base, grasps the blue disc, lifts it off the base, moves it to the area next to the base, and releases it onto the wooden table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 75, "tasks": ["place ball"], "length": 114, "global_instruction": "Pick the blue disc from the wooden peg board and place it on the wooden table.", "scene_description": "A light brown rectangular wooden table is at the center, with a wooden peg board and a blue circular disc placed on the peg board. A right robotic arm is positioned to the right of the table, a small round wooden stool is to the left of the table, and office workstations with computers and a RALENO lighting stand are in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the blue disc on the wooden peg board, grasps the blue disc, lifts it off the peg board, moves it over the empty area of the wooden table, and releases the blue disc onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 76, "tasks": ["place ball"], "length": 202, "global_instruction": "Move the blue disc from the wooden peg base to the table surface next to the base.", "scene_description": "A light wooden work table holds a wooden peg base with three upright metal pegs and a blue circular disc resting on the base; a white robotic arm is positioned to the right of the table, with office desks, monitors, cabinets, and a RALENO studio light in the background of the lab office.", "global_instruction_dense": "The right robotic arm moves toward the blue disc on the wooden peg base, grasps the disc, lifts it, places it onto one of the upright metal pegs, then lifts it again, moves it horizontally, and releases it onto the wooden table surface beside the peg base.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 77, "tasks": ["place ball"], "length": 123, "global_instruction": "Pick the blue disc from the wooden pegboard and place it on the wooden table surface.", "scene_description": "A light brown wooden table sits in a lab workspace. A wooden pegboard with three vertical pegs and a blue circular disc on the board rests on the table, with a robotic arm at the right side of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the blue disc on the wooden pegboard, grasps the disc, lifts it away from the pegboard, moves it over the adjacent table surface, releases the disc onto the table, then lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 78, "tasks": ["place ball"], "length": 118, "global_instruction": "Pick the blue disc from the peg board and place it on the wooden table surface.", "scene_description": "A wooden table is in the foreground of a lab workspace, with a wooden peg board and a blue circular disc resting on the peg board. A right robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves downward toward the blue disc on the wooden peg board, grasps the blue disc, lifts it, moves it over the empty part of the wooden table, lowers the disc, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 79, "tasks": ["place ball"], "length": 182, "global_instruction": "Pick the blue disc from the wooden peg base and place it on the wooden table surface.", "scene_description": "A light brown wooden table holds a wooden peg base with three pegs and a blue circular disc resting on the base. A white robotic arm is positioned above the right side of the table in a laboratory office space, with office desks and a RALENO lighting softbox visible in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the blue disc on the wooden peg base, grasps the disc, lifts it, moves it to the side of the peg base above the table, releases the disc onto the table, then lifts upward to a raised position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 80, "tasks": ["place ball"], "length": 106, "global_instruction": "Pick up the blue disk from the wooden peg rack and place it on the wooden table.", "scene_description": "A light wooden rectangular table is in the foreground, with a wooden peg rack holding a blue disk on its surface. A white robotic arm is positioned to the right of the table, and the background is an open lab space with desks, monitors, a RALENO lighting softbox on the left, and a small round wooden stool next to the main table.", "global_instruction_dense": "The right robotic arm moves from its initial position on the right side of the frame toward the blue disk on the wooden peg rack, grasps the blue disk, lifts it off the rack, moves it slightly to the right, lowers it, and places it on the surface of the wooden table next to the peg rack.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 81, "tasks": ["place ball"], "length": 122, "global_instruction": "Pick the blue disc from the wooden peg base and place it on the wooden table.", "scene_description": "A light brown wooden table holds a wooden peg base with three metal pegs and a blue disc resting on the base. A white robotic arm is positioned to the right of the table, a small oval wooden side table sits to the left of the main table, and office workspaces with desks and monitors fill the background.", "global_instruction_dense": "The right robotic arm moves toward the blue disc on the wooden peg base, grasps the disc, lifts it from the base, moves it right across the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 82, "tasks": ["place ball"], "length": 108, "global_instruction": "Remove the blue disc from the wooden pegboard and place it on the adjacent worktable surface.", "scene_description": "A light brown wooden worktable holds a rectangular wooden pegboard with three metal pegs and a blue circular disc on the right end of the pegboard. A robotic arm is positioned to the right of the table, with office workstations, a small round wooden stool, and a RALENO softbox light in the background.", "global_instruction_dense": "The right robotic arm lowers toward the blue disc on the wooden pegboard, grasps the disc, lifts it off the pegboard, moves it slightly to the right, and releases it onto the worktable surface next to the pegboard.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 83, "tasks": ["place ball"], "length": 115, "global_instruction": "Pick the blue disc from the wooden peg base and place it on the wooden worktable", "scene_description": "A light wooden worktable holds a rectangular wooden peg base with three vertical pegs, a blue circular disc rests on the right section of the peg base. A right robotic arm is positioned at the right edge of the table, a RALENO lighting rig and small curved wooden stool are to the left of the worktable in an open robotics lab office.", "global_instruction_dense": "The right robotic arm moves left toward the blue disc on the wooden peg base, grasps the disc, lifts it, moves it rightward over the worktable surface, releases the disc onto the table, and lifts its gripper away from the placed disc.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 84, "tasks": ["place ball"], "length": 113, "global_instruction": "Pick up the blue disk from the wooden peg rack and place it on the wooden table surface.", "scene_description": "A light brown wooden table is in the foreground, with a wooden peg rack holding a blue circular disk placed on its surface. A right robotic arm is positioned at the upper right of the scene, a small round light brown stool sits to the left of the main table, a RALENO branded lighting softbox is on the left side, and an office workspace is visible in the background.", "global_instruction_dense": "The right robotic arm moves from its initial upper right position toward the blue disk on the wooden peg rack, grasps the disk with its gripper, lifts the disk up, moves it slightly rightward, lowers it onto the wooden table surface, and releases the disk.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 85, "tasks": ["place ball"], "length": 102, "global_instruction": "Pick the blue disk from the wooden peg base and place it on the wooden table.", "scene_description": "A light brown wooden table is in the foreground, with a wooden peg base holding a blue circular disk on one of its pegs placed on the table. A right robotic arm is positioned at the right side of the table, a RALENO softbox light stands left of the table, and an open office workspace is in the background.", "global_instruction_dense": "The right robotic arm moves from its initial position at the right side of the table toward the blue disk on the wooden peg base, grasps the blue disk, lifts it off the peg, moves it slightly right over the table, lowers it, and releases it onto the wooden table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 86, "tasks": ["place ball"], "length": 95, "global_instruction": "Pick the blue disc from the peg rack and place it on the wooden worktable surface.", "scene_description": "A wooden worktable holds a light brown peg rack with three vertical pegs, a blue circular disc rests on the rightmost position of the peg rack. A right robotic arm is positioned at the upper right of the table, a small round wooden side table sits to the left of the worktable in an office lab environment.", "global_instruction_dense": "The right robotic arm moves toward the blue disc on the peg rack, grasps the disc, lifts it off the rack, moves it to a spot on the worktable next to the rack, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 87, "tasks": ["place ball"], "length": 94, "global_instruction": "Pick the blue disk from the wooden peg base and place it on the adjacent table surface.", "scene_description": "A light wooden table is in the foreground, a wooden peg base with a blue circular disk resting on it sits on the table, a right robotic arm is positioned to the right of the table, and an office workspace with desks, computers, and a RALENO lighting setup is in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue disk on the wooden peg base, grasps the disk, lifts it, moves it slightly right over the table surface, lowers and releases it onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 88, "tasks": ["place ball"], "length": 122, "global_instruction": "Pick the blue disc from the wooden peg base and place it on the wooden table surface.", "scene_description": "A light brown wooden table sits in a laboratory office space. A rectangular wooden peg base with three vertical pegs and a blue circular disc on its right end rests on the center of the table. A white robotic arm is positioned to the right of the table, with a RALENO photography light to the left of the table and office desks/equipment in the background.", "global_instruction_dense": "The right robotic arm moves from its initial raised position to the right of the table downward toward the wooden peg base, grasps the blue disc resting on the base, lifts the disc, moves it a short distance to the right above the table, lowers it, releases it onto the table next to the peg base, then raises back upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 89, "tasks": ["place ball"], "length": 112, "global_instruction": "Pick the blue disc from the wooden peg base and place it on the wooden table", "scene_description": "A wooden worktable is at the center of a robotics lab. A wooden peg base with three metal pegs and a blue circular disc resting on the base is placed on the table. A robotic arm is positioned to the right of the table, with a RALENO photography light and office workstations visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue disc on the wooden peg base, grasps the disc, lifts it, moves it to an empty spot on the table next to the base, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 90, "tasks": ["place ball"], "length": 107, "global_instruction": "Place the blue disc from the peg base onto the wooden table surface", "scene_description": "A light brown wooden table holds a wooden peg base with three vertical pegs, and a blue disc rests on the right end of the peg base. The right robotic arm is positioned above the table in a lab office environment.", "global_instruction_dense": "The right robotic arm moves downward toward the blue disc on the peg base, grasps the disc, lifts it, moves it rightward over the table, and releases it onto the wooden table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 91, "tasks": ["place ball"], "length": 118, "global_instruction": "Pick up the blue disc from the wooden pegboard and place it on the table surface beside the dark blue cup.", "scene_description": "In a robotics lab workspace, a light wooden table holds a wooden pegboard with metal pegs, a blue disc on the pegboard, and a dark blue cup to the right of the pegboard, with a robotic arm at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the blue disc on the wooden pegboard, grasps the disc, lifts it, moves it rightward to the area beside the dark blue cup, lowers and releases the disc onto the table, then lifts its gripper upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 92, "tasks": ["place ball"], "length": 138, "global_instruction": "Pick up the blue disc from the wooden peg base and place it on the wooden table.", "scene_description": "A light brown wooden table holds a wooden peg base with a blue disc on it, and a dark gray small conical cup next to the base. A right robotic arm is positioned at the right side of the table, with office workspace, desks, computers and a RALENO lighting softbox in the background.", "global_instruction_dense": "The right robotic arm moves from its initial position at the right of the table toward the wooden peg base, grasps the blue disc on the base, lifts it, moves it rightward over the table surface, releases it onto the table, then retracts back to its original position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 93, "tasks": ["place ball"], "length": 169, "global_instruction": "Pick the blue disc from the pegboard and place it on the wooden table next to the gray cup", "scene_description": "A light brown wooden table holds a beige pegboard with metal pegs, a blue disc on the pegboard, and a dark gray small cup next to the pegboard. A white robotic arm is positioned to the right of the table in an office lab workspace.", "global_instruction_dense": "The right robotic arm moves downward from its initial elevated position toward the blue disc on the pegboard, grasps the disc, lifts it, moves it over to the area next to the gray cup on the table, lowers it, releases it onto the table, then moves upward away from the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 94, "tasks": ["place ball"], "length": 153, "global_instruction": "Place the blue disc onto an empty peg on the wooden peg base.", "scene_description": "A light brown wooden table holds a wooden peg base with metal pegs, a blue disc on the base, and a dark blue cup next to the base, with a robotic arm positioned to the right of the table in an office lab.", "global_instruction_dense": "The right robotic arm moves downward from its initial right position toward the blue disc on the wooden peg base, grasps the disc, aligns it over an empty peg on the base, presses it onto the peg, then releases the disc and moves back upward to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 95, "tasks": ["place ball"], "length": 137, "global_instruction": "Pick the blue disc from the wooden peg rack and place it on the table next to the gray cylindrical cup.", "scene_description": "A light brown wooden worktable in a robotics lab has a wooden peg rack with a blue disc on it, and a gray cylindrical cup next to the peg rack. A white robotic arm is positioned to the right of the table, a small oval wooden stool is to the left of the worktable, and office desks, monitors, and a RALENO photography light are in the background.", "global_instruction_dense": "The right robotic arm moves toward the wooden peg rack, grasps the blue disc on the rack, lifts it, moves it rightward above the table, lowers it onto the table next to the gray cup, releases the disc, and lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 96, "tasks": ["place ball"], "length": 175, "global_instruction": "Pick the blue disc from the wooden peg rack and place it on the wooden table surface.", "scene_description": "A light brown wooden table holds a wooden peg rack with three metal pegs, a small blue circular disc on the peg rack, and a dark gray cylindrical cup next to the peg rack. A white robotic arm is positioned to the right of the table, with an office lab environment including desks, monitors, and a RALENO photography softbox in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue disc on the wooden peg rack, grasps the disc, lifts it, moves it horizontally away from the peg rack, releases it onto the wooden table, then moves back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 97, "tasks": ["place ball"], "length": 127, "global_instruction": "Pick the blue disc from the wooden peg base and place it on the wooden worktable.", "scene_description": "A light wooden worktable is in the center of a robotics lab, holding a blue cylindrical object and a wooden peg base with a blue disc on it; a small oval wooden stool is to the table's left, and a right robotic arm is positioned at the table's right side, with office workstations in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue disc on the wooden peg base on the worktable, grasps the disc, lifts it, moves it to an empty spot on the table right of the base, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 98, "tasks": ["place ball"], "length": 119, "global_instruction": "Pick up the blue disc from the peg base and place it on the table next to the blue cup.", "scene_description": "A light wooden table in a lab office holds a wooden peg base with three pegs and a blue disc, plus a blue cylindrical cup next to the peg base. A robotic arm is positioned to the right of the table, with studio lighting and work desks visible in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the blue disc on the wooden peg base, grasps the disc, lifts it, moves it rightward next to the blue cup, lowers it, releases it onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 99, "tasks": ["place ball"], "length": 159, "global_instruction": "Pick up the blue disc from the wooden peg base and place it on the wooden table.", "scene_description": "A wooden table holds a rectangular wooden peg base with three metal pegs and a blue circular disc on the base, plus a dark gray cylindrical cup behind the base; a right robotic arm is positioned above the right side of the table in an office lab.", "global_instruction_dense": "The right robotic arm moves downward toward the blue disc resting on the wooden peg base, grasps the disc, lifts it, moves it to the side of the base, lowers it onto the table surface, and releases it before lifting back up.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 100, "tasks": ["place ball"], "length": 113, "global_instruction": "Pick up the blue disc from the wooden peg board and place it on the wooden table.", "scene_description": "A light wooden table holds a blue cylindrical cup and a wooden peg board with a blue circular disc on it, a small oval side table is to the left of the main table, a right robotic arm is positioned on the right side of the table in an office lab space with a RALENO softbox light to the left.", "global_instruction_dense": "The right robotic arm moves leftward and downward toward the wooden peg board on the table, grasps the blue disc on the board, lifts it off the pegs, moves slightly right, and releases the disc onto the wooden table surface next to the board.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 101, "tasks": ["place ball"], "length": 120, "global_instruction": "Place the blue disc from the wooden pegboard onto the wooden worktable surface.", "scene_description": "A wooden worktable holds a dark blue cylindrical cup and a wooden pegboard with a blue circular disc on its right end. A small round light wood side table sits left of the worktable, a RALENO photography light stands on the far left, a white robotic arm is positioned right of the worktable, and open office spaces are in the background.", "global_instruction_dense": "The right robotic arm moves leftward and downward toward the worktable, grasps the blue disc on the wooden pegboard, lifts the disc, moves it slightly rightward, and releases it onto the worktable next to the pegboard.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 102, "tasks": ["place ball"], "length": 141, "global_instruction": "Place the blue disc from the wooden peg board onto the wooden table surface.", "scene_description": "A light wooden table in the foreground holds a dark blue cylindrical cup and a wooden peg board with a blue circular disc on it. A robotic arm is positioned to the right of the table, a RALENO photography softbox stands to the left of the table, and background office desks with working people are visible in the lab space.", "global_instruction_dense": "The right robotic arm moves toward the blue disc on the wooden peg board on the table, grasps the disc with its gripper, lifts it, moves it away from the peg board, and releases it onto the wooden table surface next to the dark blue cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 103, "tasks": ["place ball"], "length": 128, "global_instruction": "Pick the blue disc from the wooden peg base and place it on the wooden table.", "scene_description": "A light brown wooden table holds a gray conical cup and a wooden peg base with a blue circular disc on it, with a white robotic arm positioned to the right of the table in an open office lab.", "global_instruction_dense": "The right robotic arm moves toward the blue disc on the wooden peg base, grasps and lifts the disc, moves it to the side of the base, releases it onto the table surface, then moves upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 104, "tasks": ["place ball"], "length": 112, "global_instruction": "Place the blue disc from the wooden peg base onto the adjacent table surface.", "scene_description": "A light brown wooden tabletop holds a dark gray cylindrical cup and a light brown wooden peg base with a blue disc on its pegs, with a right robotic arm positioned at the right side of the table in an office lab space.", "global_instruction_dense": "The right robotic arm moves left from its initial position to the tabletop, lowers to the peg base, grasps the blue disc from the peg, lifts it, places it on the table next to the peg base, then moves upward and back toward its starting position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 105, "tasks": ["place ball"], "length": 116, "global_instruction": "Pick up the blue disk from the peg rack and place it on the wooden table next to the rack.", "scene_description": "A light brown wooden table has a light brown wooden peg rack with pegs, a blue disk on the rack, and a dark gray small cup to the right of the rack. A robotic arm is positioned to the right of the table in a lab office space.", "global_instruction_dense": "The right robotic arm moves toward the blue disk on the wooden peg rack, grasps the disk, lifts it, moves it slightly right over the table, and releases it onto the table surface next to the peg rack.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 106, "tasks": ["place ball"], "length": 110, "global_instruction": "Pick up the blue disc from the wooden peg base and place it on the worktable surface.", "scene_description": "A light brown wooden worktable holds a rectangular wooden peg base with three metal pegs and a blue circular disc resting on the base. A white robotic arm is positioned on the right side of the table, a RALENO photography light stand is on the left, and an office workspace is visible in the background.", "global_instruction_dense": "The right robotic arm moves from its initial raised position down toward the wooden peg base, grasps the blue disc on the base, lifts the disc, moves it slightly to the right over the table, and releases the disc onto the worktable surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 107, "tasks": ["place ball"], "length": 159, "global_instruction": "Place the blue disk from the wooden peg base onto the wooden work table.", "scene_description": "A light wooden work table is in the center, with a wooden peg base holding three metal pegs, a blue circular disk, and a small metal part on its surface. A small semicircular wooden side table sits to the left of the work table, a black RALENO softbox on a stand is left of the side table, and a white robotic arm is positioned to the right of the work table in an open office space.", "global_instruction_dense": "The right robotic arm moves downward from its retracted position on the right of the table, grasps the blue disk on the wooden peg base, lifts the disk, moves it right of the peg base, releases it onto the work table surface, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 108, "tasks": ["place ball"], "length": 147, "global_instruction": "Move the blue disk from the wooden peg board onto the wooden table surface", "scene_description": "A light brown wooden table is in the foreground, with a wooden peg puzzle board holding a blue disk on its right side. A small oval light wood side table is to the left of the main table, a RALENO studio light stands on the far left, and a robotic arm is positioned to the right of the main table in a lab workspace.", "global_instruction_dense": "The left robotic arm lowers toward the blue disk on the wooden peg board, grasps the disk, lifts it off the board, moves it slightly, and places it onto the surface of the wooden table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 109, "tasks": ["place ball"], "length": 110, "global_instruction": "Pick the blue disc from the peg rack and place it onto the wooden table surface.", "scene_description": "A light brown wooden table in the foreground holds a wooden peg rack with a blue circular disc resting on the rack. A robotic arm is positioned above the table, with an office lab workspace including desks, people, and studio lighting in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the blue disc on the wooden peg rack, grasps the disc with its gripper, lifts it away from the rack, moves it over the empty table area, and releases it onto the wooden table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 110, "tasks": ["place ball"], "length": 118, "global_instruction": "Pick the blue disc from the peg rack and place it on the wooden table", "scene_description": "A light brown wooden table holds a wooden peg rack with three pegs and a blue disc on the rack, a white robotic arm is positioned above the upper right of the table, and the background is a lab workspace with desks and equipment.", "global_instruction_dense": "The right robotic arm moves downward toward the blue disc on the wooden peg rack, grasps the disc, lifts it away from the rack, and releases it onto the surface of the wooden table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 111, "tasks": ["place ball"], "length": 110, "global_instruction": "Pick the blue disc from the pegboard and place it on the wooden table", "scene_description": "A light brown wooden table holds a light wooden pegboard with a blue circular disc on it. A semi-circular wooden stool sits to the left of the table, a RALENO studio light is at the left of the workspace, and a white robotic arm is positioned to the right of the table in an open office lab.", "global_instruction_dense": "The right robotic arm moves from its raised right-side position down toward the blue disc on the pegboard, grasps the disc, lifts it, moves it to an empty spot on the wooden table, and releases the disc onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 112, "tasks": ["place ball"], "length": 154, "global_instruction": "Place the blue disc from the wooden peg rack onto the wooden table surface.", "scene_description": "A light brown wooden table sits in the foreground of a robotics lab, with a wooden peg rack holding three vertical pegs and a blue circular disc placed on the rack. A white robotic arm is positioned to the right of the table, a RALENO photography softbox is to the left of the table, and office workstations with personnel are in the background.", "global_instruction_dense": "The right robotic arm moves from its raised initial position down toward the wooden peg rack on the table, grasps the blue disc on the rack, lifts the disc, moves it to an empty area on the table, and releases the disc onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 113, "tasks": ["place ball"], "length": 155, "global_instruction": "Pick the blue disk from the wooden peg base and place it on the wooden table.", "scene_description": "A wooden work table has a wooden peg base with a blue disk on its surface. A right robotic arm is positioned at the right of the table, with an oval wooden stool to the table's left and lab office workstations in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue disk on the wooden peg base, grasps the disk, lifts it away from the base, shifts it slightly, and releases it onto the wooden table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 114, "tasks": ["place ball"], "length": 103, "global_instruction": "Pick up the blue disk from the peg base and place it on the wooden table.", "scene_description": "A light wooden table holds a rectangular peg base with three pegs and a blue disk resting on the base. A robotic arm is positioned to the right of the table, an oval wooden side table sits left of the main table, and an office workspace is in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue disk on the peg base, grasps it, lifts it away from the base, moves it over the table surface, and releases it onto the wooden table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 115, "tasks": ["place ball"], "length": 175, "global_instruction": "Pick the blue disc from the peg base and place it on the wooden table surface.", "scene_description": "A light wooden work table is at the center. A peg base with three vertical pegs sits on the table, with a blue circular disc placed on the right end of the peg base. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves down toward the blue disc on the peg base, grasps the blue disc, lifts it up, and releases it onto the empty wooden table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 116, "tasks": ["place ball"], "length": 95, "global_instruction": "Pick the blue disc from the peg base and place it on the wooden table.", "scene_description": "A light wooden table holds a rectangular peg base with three wooden pegs and a blue disc resting on the right end of the base. A white robotic arm is positioned at the right side of the table, and a laboratory workspace with desks, chairs, people, and a black RALENO lighting softbox are in the background.", "global_instruction_dense": "The right robotic arm moves down toward the blue disc on the table's peg base, grasps the disc with its gripper, lifts it, moves it rightward above the empty table surface, then releases the disc onto the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 117, "tasks": ["place ball"], "length": 135, "global_instruction": "Pick up the small golden-brown ball on the table and place it into the light blue plastic cup.", "scene_description": "A light brown wooden table in a lab office holds a small golden-brown ball, a light blue plastic cup, and a gray conical object behind the cup. A right robotic arm is positioned above the table, with work desks and equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the small golden-brown ball on the wooden table, grasps it with its gripper, lifts it, moves it above the light blue plastic cup, releases the ball into the cup, then moves its arm away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 118, "tasks": ["place ball"], "length": 216, "global_instruction": "Pick up the small brown metal ball on the table and place it into the blue cup.", "scene_description": "A light brown wooden table holds a small brown metal ball, a bright blue cup, and a dark gray cup, with a robotic arm positioned to the right of the table in a lab workspace.", "global_instruction_dense": "The right robotic arm moves toward the small brown metal ball on the wooden table, grasps the ball, lifts it, moves it over the bright blue cup, releases the ball into the cup, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 119, "tasks": ["place ball"], "length": 121, "global_instruction": "Pick the orange ball from the upper shelf tier and place it on the top surface of the white shelf unit.", "scene_description": "An orange ball rests on the upper tier of a white open shelf unit in an office workspace, with a whiteboard, framed photo, 3D filament spool rack, black equipment case, white air purifier around the shelf, and a robotic arm to the right of the shelf.", "global_instruction_dense": "The right robotic arm extends toward the orange ball on the upper tier of the white shelf unit, grasps the ball, lifts it upward, moves it over the top of the shelf unit, and releases the ball to rest on the shelf's top surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 120, "tasks": ["place ball"], "length": 2638, "global_instruction": "Place all scattered orange, yellow, and blue circular discs onto the pegs of the wooden numbered base.", "scene_description": "A wooden office desk holds a wooden numbered peg base, scattered orange, yellow, and blue circular discs, a blue NUC box, loose papers, and small tools, with a robotic arm positioned above the desk and office monitors, chairs, and a whiteboard in the background.", "global_instruction_dense": "The single robotic gripper successively picks up each orange, then yellow, then blue circular disc from the desk surface, aligns each with the corresponding peg on the wooden numbered base, and slides the disc down onto the peg until all discs are placed on the base.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 121, "tasks": ["place ball"], "length": 2868, "global_instruction": "Place all orange, yellow, and blue circular discs onto the pegs of the wooden base on the desk.", "scene_description": "An office workspace has a wooden desk holding a blue 'nuc' box, scattered papers, electronic components, orange, yellow, and blue circular discs, and a wooden base with three vertical pegs. The background includes a whiteboard, office chairs, and computer monitors on a rear desk.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, sequentially grasps all orange discs from the desk and places them on the leftmost peg of the wooden base, then grasps all yellow discs and places them on the middle peg, then grasps the blue disc and places it on the rightmost peg.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 122, "tasks": ["place ball"], "length": 3099, "global_instruction": "Place the scattered red, orange, and yellow circular discs onto the leftmost vertical peg of the wooden base.", "scene_description": "A wooden peg base with vertical posts sits on a brown office desk; red, orange, yellow, and blue circular discs are scattered to the right of the base, a blue NUC box, loose papers, and small tools are to the left of the base, a right robotic arm is positioned above the right side of the desk, with multiple office monitors and a marked whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves above the scattered circular discs on the desk, sequentially grasps red, then orange, then yellow discs, moves each to the leftmost vertical peg of the wooden base, and releases them to stack on the peg across the episode.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 123, "tasks": ["place ball"], "length": 3021, "global_instruction": "Place the scattered orange, yellow, and blue circular discs onto the pegs of the wooden base on the desk.", "scene_description": "A wooden desk holds scattered orange, yellow, blue circular discs, a peg-equipped wooden base, a blue NUC box, papers, and tools. A white robotic arm is positioned at the desk's right, with office monitors, chairs, and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm sequentially grasps scattered orange, then yellow, then blue circular discs from the desk, lifts each, moves them to the wooden base's first peg, and places each disc onto the peg to stack them.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 124, "tasks": ["place ball"], "length": 2968, "global_instruction": "Place all scattered colored circular discs onto the pegs of the wooden base on the table.", "scene_description": "An office workspace with a light brown wooden table in the foreground. On the table, a wooden peg base with vertical pegs sits near the center, surrounded by scattered red, orange, yellow, and blue circular discs. To the left of the peg base are scattered papers, a blue printed 'nuc' box, orange tools, cardboard boxes, and clear plastic cups. The background includes a whiteboard with handwritten notes, multiple black desktop monitors on desks, gray office chairs, and a glass storage shelf. No robotic arm is visible in the initial frame.", "global_instruction_dense": "The right robotic arm enters the frame from the right, grasps each scattered red, orange, yellow, and blue circular disc individually, lifts each disc, aligns it with a peg on the wooden base, and releases the disc to stack it on the peg, repeating this process until all discs are placed on the pegs.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 125, "tasks": ["place ball"], "length": 3298, "global_instruction": "Pick up orange and yellow round discs from the table and place them on the leftmost peg of the wooden base.", "scene_description": "An office wooden table holds a wooden peg base, multiple orange, yellow, and blue round discs scattered to the right of the base, a blue NUC box, loose papers, and cardboard boxes on the left, a white robotic arm positioned on the right side of the table, with office desks, monitors, and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange discs on the table, sequentially grasps each orange disc, lifts and places it on the leftmost peg of the wooden base, then repeats the same process for the yellow discs, and finally moves back to a resting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 126, "tasks": ["place ball"], "length": 3101, "global_instruction": "Place all scattered colored circular discs onto the leftmost vertical peg of the wooden base on the office desk.", "scene_description": "A wooden office desk holds scattered orange, yellow, and blue circular discs, a wooden base with three vertical pegs, a blue NUC box, loose papers, and electronic components. Office monitors, chairs, and a whiteboard are visible in the background, with the robotic arm initially off-frame to the right.", "global_instruction_dense": "The right robotic arm enters the frame from the right, grasps each scattered orange circular disc one by one, moves each to the leftmost vertical peg of the wooden base and places it to form a stack, then repeats the process for the two yellow discs, followed by the single blue disc, stacking all discs onto the leftmost peg before moving away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 127, "tasks": ["place ball"], "length": 2672, "global_instruction": "Place the scattered orange, yellow, and blue circular discs onto the leftmost peg of the wooden base.", "scene_description": "A wooden office desk holds scattered orange, yellow, and blue circular discs, a wooden base with vertical pegs, a blue NUC box, cables, and assorted office tools. An office environment with multiple monitors, chairs, and a whiteboard is visible in the background, with a right robotic arm positioned above the discs.", "global_instruction_dense": "The right robotic arm repeatedly reaches for scattered colored circular discs on the wooden desk, grasps each disc, moves it to the leftmost vertical peg of the wooden base, lowers and releases the disc to stack it on the peg, placing multiple orange discs, two yellow discs, and one blue disc on the peg over the course of the video.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 128, "tasks": ["place ball"], "length": 3004, "global_instruction": "Place all colored circular discs from the desk onto the corresponding pegs of the wooden sorting base.", "scene_description": "In an office workspace, a wooden peg sorting base with red, yellow, and blue circular discs placed around it sits on a wooden desk. A white and black right robotic arm is positioned above the desk, a fetch robot is on the left side of the desk, and a blue 'nuc' box, papers, office supplies, multiple monitors, a whiteboard, and office chairs are visible in the area.", "global_instruction_dense": "The right robotic arm sequentially grasps each red, yellow, and blue circular disc from the wooden desk surface, moves each disc to the matching peg on the wooden sorting base, releases the disc onto the peg, and finally returns to a resting position above the desk.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 129, "tasks": ["place ball"], "length": 2963, "global_instruction": "Place the scattered colored round discs onto the pegs of the wooden base on the office desk.", "scene_description": "A wooden office desk holds scattered orange, yellow, and blue round discs on its right side, a wooden base with vertical pegs to the left of the discs, and a blue \"nuc\" box on the desk's left side. Office equipment including monitors, a whiteboard, and another \"fetch\" robotic arm are visible in the background, with a white and black robotic arm positioned above the right side of the desk initially.", "global_instruction_dense": "The right robotic arm moves toward the scattered orange, yellow, and blue round discs on the right side of the office desk, grasps each disc individually with its gripper, transports each disc to the corresponding peg on the wooden base left of the discs, releases the disc to stack it on the peg, and repeats this process for all discs before returning to a raised position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 130, "tasks": ["place ball"], "length": 3091, "global_instruction": "Place the scattered circular discs onto the pegs of the wooden stacking toy.", "scene_description": "A cluttered office desk holds a wooden stacking toy with pegs, scattered red, yellow, orange, and blue circular discs, a purple 'nuc' box, loose papers, and office supplies, with multiple computer monitors in the background.", "global_instruction_dense": "The right robotic arm repeatedly moves toward scattered circular discs on the desk, grasps each disc, lifts it, moves to a peg on the wooden stacking toy, and places the disc onto the peg.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 131, "tasks": ["place ball"], "length": 3542, "global_instruction": "Place the scattered red, yellow, and orange plastic discs onto the pegs of the wooden peg board on the office desk.", "scene_description": "A wooden office desk holds a blue 'nuc' box, scattered red, orange, and yellow plastic discs, a wooden peg board with vertical pegs, and a white-and-black robotic arm on the desk's right; a 'fetch' robot stands left of the desk, with office monitors and a whiteboard in the background.", "global_instruction_dense": "The right robotic gripper moves to scattered red, yellow, and orange plastic discs on the office desk, grasps each disc individually, lifts it, moves it over a peg on the wooden peg board, releases it to stack on the peg, and repeats this process for multiple discs until the selected discs are placed on the pegs.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 132, "tasks": ["place ball"], "length": 3210, "global_instruction": "Place scattered circular discs onto the leftmost upright post of the wooden stacking board.", "scene_description": "An office desk holds a purple 'nuc' box, scattered papers, tools, a wooden stacking board with three upright posts, and scattered orange, red, yellow, and blue circular discs next to the board. A white and black robotic arm is positioned above the board, with office desks, monitors, a whiteboard, and another Fetch robot visible in the background.", "global_instruction_dense": "The right robotic arm repeatedly reaches for scattered orange, red, yellow, and blue circular discs on the office desk beside the wooden stacking board, grasps each disc, lifts it, aligns it with the leftmost upright post of the board, lowers it onto the post, and releases it, stacking all the discs onto the post by the end of the video.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 133, "tasks": ["place ball"], "length": 3138, "global_instruction": "Place the scattered colored round discs on the desk onto the pegs of the wooden stacking toy.", "scene_description": "A wooden office desk holds a blue NUC box, scattered orange, yellow, red, and blue round discs, a wooden stacking toy with pegs, a fetch-brand robotic arm on the left side of the desk, a Franka Emika robotic arm on the right side of the desk, loose papers, various office supplies, and multiple computer monitors against a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves over the scattered colored round discs on the desk, grasps each disc individually with its gripper, lifts each disc, moves it to the appropriate peg on the wooden stacking toy, lowers the disc, releases it onto the peg, and repeats the process for multiple targeted discs.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 134, "tasks": ["place ball"], "length": 3185, "global_instruction": "Place the scattered colored circular discs from the desk onto the vertical pegs of the wooden peg board.", "scene_description": "An office desk holds a blue NUC box, loose papers, small electronic accessories, a fetch robot on the left side, a Franka Emika robotic arm on the right, scattered colored circular discs (red, orange, yellow, blue), and a wooden peg board with vertical pegs in front of the robotic arm. Desks with monitors, office chairs, and a whiteboard are in the background.", "global_instruction_dense": "The right robotic arm repeatedly moves to a scattered colored disc on the desk, grasps the disc with its gripper, lifts and moves the disc above a vertical peg on the wooden board, lowers the disc onto the peg, and releases it to stack multiple discs onto the pegs over the video.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 135, "tasks": ["place ball"], "length": 3197, "global_instruction": "Place red circular discs onto the left peg of the wooden stacking board on the office desk.", "scene_description": "A cluttered office desk holds a wooden peg stacking board, scattered red, yellow, and blue circular discs, a blue 'nuc' branded box, loose papers, cables, and small office supplies. A white Fetch robot is on the left side of the desk, with multiple computer monitors, office chairs, and a whiteboard in the background; no robotic arm is visible over the desk at the start.", "global_instruction_dense": "The right robotic arm repeatedly moves to scattered red circular discs on the office desk, grasps each individual red disc, lifts it, moves it over the left peg of the wooden stacking board, lowers it, and releases it to stack the disc onto the peg, building a stack of multiple red discs over the course of the video.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 136, "tasks": ["place ball"], "length": 3470, "global_instruction": "Place all scattered colorful circular discs on the office desk onto the pegs of the wooden board.", "scene_description": "A wooden office desk holds a purple NUC box, scattered colorful circular discs (red, yellow, orange, blue), a green rectangular block, a wooden peg board with empty pegs on the lower right, a Fetch robotic arm on the left, and a robotic arm on the upper right, with multiple office monitors and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm sequentially grasps each scattered colorful circular disc from the desk, lifts each disc, moves it over to the wooden peg board, and places it onto one of the board's pegs until all discs are placed.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 137, "tasks": ["place ball"], "length": 2913, "global_instruction": "Place the scattered red and yellow circular stacking discs onto the pegs of the wooden stacking toy on the desk.", "scene_description": "A wooden office desk holds a purple printed NUC box, loose white papers, an orange handheld tool, scattered red and yellow circular stacking discs, a wooden stacking toy with vertical pegs, and a black spherical object. A Franka Emika right robotic arm is on the desk's right holding a yellow-green gripper tool, while a Fetch robot arm sits on the desk's left. The background has office desks with black monitors, grey chairs, and a light wall with small drawings.", "global_instruction_dense": "The right robotic arm uses its attached yellow-green gripper tool to sequentially grasp scattered red and yellow circular stacking discs from the desk, lift each disc, move it to the vertical pegs of the wooden stacking toy on the desk, and release each disc onto the pegs to complete the stacking task.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 138, "tasks": ["place ball"], "length": 3211, "global_instruction": "Place the colorful circular stacking discs from the desk onto the pegs of the wooden stacking toy.", "scene_description": "An office desk holds a blue 'nuc' box in the foreground, a wooden stacking toy with vertical pegs and colorful circular stacking discs (orange, yellow, red, green) on the right side of the desk, a white and blue Fetch robot on the left edge of the desk, and multiple computer monitors with office chairs positioned behind the desk against a whiteboard wall.", "global_instruction_dense": "The right robotic arm moves into the desk workspace, sequentially grasps colorful circular stacking discs from the desk surface, lowers each disc onto a peg of the wooden stacking toy, releases the disc to secure it on the peg, and repeats this for all target discs.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 139, "tasks": ["place ball"], "length": 3065, "global_instruction": "Place the scattered colored circular discs onto the pegs of the wooden sorting board on the office desk.", "scene_description": "An office desk holds scattered red, orange, yellow, and blue circular discs, a wooden sorting board with pegs, a purple NUC box, loose papers, and small office supplies. A stationary white and blue robotic arm sits on the left of the desk, a movable robotic arm is positioned on the right, with office monitors, chairs, and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the scattered colored circular discs on the office desk, grasps each disc with its gripper, transports the disc to the wooden sorting board, releases it to stack the disc onto a peg, repeats this process for all remaining discs, then returns to its resting position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 140, "tasks": ["place ball"], "length": 3181, "global_instruction": "Stack red round discs on the leftmost peg of the wooden strip, then stack yellow round discs on the adjacent middle peg.", "scene_description": "An office desk holds scattered colorful round discs (red, orange, yellow, blue), a wooden strip with three vertical pegs, a blue 'nuc' branded box, and assorted office supplies, with multiple computer monitors, office chairs, and a large whiteboard in the background. No robotic arm is visible in the initial scene.", "global_instruction_dense": "The right robotic arm enters the work area above the desk, repeatedly grasps red discs from the desk surface, stacks them on the leftmost vertical peg of the wooden strip, then grasps yellow discs and stacks them on the middle adjacent peg, before moving away from the work area.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 141, "tasks": ["place ball"], "length": 3106, "global_instruction": "Pick up the colorful circular discs from the desk and stack them onto the pegs of the wooden puzzle board.", "scene_description": "A brown wooden desk holds a wooden puzzle board with three upright pegs, scattered colorful circular discs (red, orange, yellow, blue), a blue 'nuc' box, and assorted office items, with a white and black robotic arm positioned above the desk, and office monitors and chairs in the background.", "global_instruction_dense": "The right robotic arm repeatedly reaches for scattered colorful circular discs on the desk, grasps each disc with its gripper, moves it to the appropriate peg on the wooden puzzle board, and releases the disc to stack it on the peg until all target discs are placed.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 142, "tasks": ["place ball"], "length": 3382, "global_instruction": "Place the scattered colored circular discs from the desk onto the pegs of the wooden rack.", "scene_description": "A wooden office desk holds scattered colored circular discs (red, orange, yellow, green, blue), a blue NUC box, loose papers, and a long wooden peg rack with empty pegs. A right robotic gripper is positioned above the desk, with office monitors, chairs, and a whiteboard in the background.", "global_instruction_dense": "The right robotic gripper repeatedly moves to grasp scattered colored circular discs on the office desk, lifts each disc, moves it to a peg on the wooden rack, lowers and releases the disc onto the peg, until all discs are stacked on the rack pegs.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 143, "tasks": ["place ball"], "length": 197, "global_instruction": "Place a yellow disc from the table onto the wooden board atop the blue box.", "scene_description": "A wooden table holds a blue box, a small wooden peg board, and scattered orange and yellow discs, with a robotic arm positioned above the blue box.", "global_instruction_dense": "The right robotic arm moves downward toward the table, grasps a yellow disc, lifts it, moves over the wooden board on the blue box, lowers the disc, releases it onto the board, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 144, "tasks": ["place ball"], "length": 230, "global_instruction": "Pick up a yellow disc from the table and place it into the slotted wooden tray on the blue box.", "scene_description": "A wooden table holds a blue box topped with a slotted wooden tray (with green and yellow pieces inside), plus scattered orange and yellow disc objects on the table surface, with a white and black robotic arm positioned above the table.", "global_instruction_dense": "The right robotic gripper descends toward a yellow disc on the wooden table, grasps and lifts the disc, moves it over to the slotted wooden tray on the blue box, releases the disc into the tray slot, then returns to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 145, "tasks": ["place ball"], "length": 186, "global_instruction": "Pick a yellow disc from the table and place it on top of the purple box", "scene_description": "A wooden table holds multiple yellow and orange circular discs, a small green cube, a purple box, and a peg stacking base. A right robotic arm is positioned above the table, with an office workspace with desks and monitors behind black curtains in the background.", "global_instruction_dense": "The right robotic gripper lowers toward a yellow disc on the wooden table, grasps it, lifts it, moves it over the purple box, releases it onto the box, then moves back to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 146, "tasks": ["place ball"], "length": 196, "global_instruction": "Place a yellow round disc into the slotted wooden strip on the table", "scene_description": "A light wooden table is in a lab workspace. On the table: a dark blue square box, a small green block, several colored round discs (orange, yellow, red), a slotted wooden strip, and a pegged wooden strip. The right robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves leftward and downward to grasp a yellow round disc from the table, moves it over the slotted wooden strip, lowers and places it into the strip's slot, then lifts and returns to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 147, "tasks": ["place ball"], "length": 208, "global_instruction": "Place an orange disc from the wooden peg puzzle onto the wooden table surface.", "scene_description": "A wooden table holds a blue cubic box, colorful play pieces (green cylinders, yellow pieces, orange discs) and a wooden peg puzzle board, with a robotic arm above the table in an office with desks and monitors in the background.", "global_instruction_dense": "The right robotic arm lowers toward the wooden peg puzzle on the table, grasps an orange disc, lifts and moves it right over the table, releases the disc onto the table, then raises upward away from the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 148, "tasks": ["place ball"], "length": 219, "global_instruction": "Place orange circular discs into the white tray holding pre-placed colored discs.", "scene_description": "A light brown wooden table holds a dark blue box on the left, a white tray with three orange, one blue, one red circular discs, scattered green and yellow square blocks, a separate orange circular disc, orange scissors, and an empty white rectangular tray. A white and black robotic arm is positioned over the right side of the table.", "global_instruction_dense": "The right robotic arm grasps an orange circular disc from the table, moves it to the white tray with existing colored discs, places it into an empty slot on the tray, then grasps an orange circular disc from the table and lifts it upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 149, "tasks": ["place ball"], "length": 407, "global_instruction": "Place orange discs from the white rectangular base onto the wooden table.", "scene_description": "A wooden table holds a blue printed box on the left, small colorful shape pieces, a white rectangular base with stacked orange discs, a yellow rod, and a black tape measure, with a white robotic arm positioned above the table's right side.", "global_instruction_dense": "The right robotic arm moves toward the white rectangular base with stacked orange discs, sequentially grasps two orange discs from the base, lifts and places each on the wooden table, then returns to its initial upper position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 150, "tasks": ["place ball"], "length": 213, "global_instruction": "Place an orange circular disc onto the peg of the white numbered puzzle base on the table", "scene_description": "A light brown wooden table holds a blue NUC box on the left, small green and yellow square blocks, a yellow long ruler, orange, red, and blue circular discs, a white numbered wooden puzzle base, and a black tape measure. A robotic arm is positioned above the table, with an office space with desks and monitors behind black curtains in the background.", "global_instruction_dense": "The right robotic arm first adjusts the position of the white numbered puzzle base on the wooden table, then moves to grasp an orange circular disc from the table, carries it to the puzzle base, places it onto the peg of the puzzle, then releases the disc and lifts its gripper away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 151, "tasks": ["place ball"], "length": 274, "global_instruction": "Pick an orange disc from the white holder and place it on the wooden table surface.", "scene_description": "A wooden table has a blue NUC box on its left, a white rectangular holder with stacked orange and yellow discs, loose orange and yellow round discs, a green cube, a black tape measure, two white curved tubes, two black strips, a yellow ruler, and a robotic arm positioned above the right side of the table; black curtains separate the table from a background office area with desks and monitors.", "global_instruction_dense": "The right robotic arm moves left toward the white disc holder on the wooden table, grasps an orange disc from the holder, lifts it, moves right to an empty spot on the table, lowers and releases the disc onto the table, then retracts upward to its original position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 152, "tasks": ["place ball"], "length": 221, "global_instruction": "Pick an orange disc from the left white tray and place it on the wooden table near the white curved tube.", "scene_description": "A light wooden table holds a blue NUC box (left side), a white curved tube, a green cube, a black tape measure, a white tray with green and yellow blocks, small orange and yellow discs, a white tray with round orange and yellow pieces, and black strips, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves down toward the left white tray holding round pieces, grasps an orange disc, lifts it, moves right over the table, lowers the disc to the table surface, releases it, then lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 153, "tasks": ["place ball"], "length": 244, "global_instruction": "Pick an orange disc from the white peg base and place it on the wooden table.", "scene_description": "A light brown wooden table has a blue box on its left, small colorful circular discs, a green cube, a white curved rod, black rectangular strips, a yellow measuring tape, a white peg base with stacked colored discs, and a yellow straight strip, with a white and black robotic arm above the right side of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the white peg base on the table, grasps an orange disc from the base, lifts the disc, moves it over the empty table surface, releases it onto the table, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 154, "tasks": ["place ball"], "length": 181, "global_instruction": "Pick up a red circular disc from the white tray and place it on the wooden table.", "scene_description": "A wooden table holds a blue NUC box on its left, a white tray with colored circular discs, a separate orange disc on the table, a yellow ruler, red scissors, black foam strips, and a white curved tube. A robotic arm is positioned at the upper right above the table.", "global_instruction_dense": "The right robotic arm moves down from its upper right position to the white tray holding colored discs, grasps a red circular disc, lifts it, moves it to the empty table surface next to the tray, releases the disc onto the table, then moves back up to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 155, "tasks": ["place ball"], "length": 210, "global_instruction": "Pick up a yellow circular disc on the worktable and place it near red circular pieces on the table.", "scene_description": "A wooden worktable in a lab office holds a dark blue box on its left, small yellow and green blocks, red circular pieces, a wooden slotted tray, and a robotic arm above the table's right area.", "global_instruction_dense": "The right robotic arm moves downward toward a yellow disc on the worktable, grasps it, moves it to a position near red circular pieces, releases it, then moves upward back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 156, "tasks": ["place ball"], "length": 209, "global_instruction": "Place a red circular disc onto a peg of the wooden pegboard on the table.", "scene_description": "A wooden work table in an office lab holds colorful building blocks, red/yellow/blue circular discs, a wooden pegboard with pegs, a blue box, and a measuring tape; a white robotic arm is positioned above the right side of the table, with office desks, monitors, and chairs in the background.", "global_instruction_dense": "The right robotic arm moves down toward the red circular disc on the table, grasps the disc, places it onto an empty peg of the wooden pegboard, then lifts and retracts back to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 157, "tasks": ["place ball"], "length": 227, "global_instruction": "Pick the red disc from the peg board and place it on the empty wooden table surface.", "scene_description": "A wooden table holds a blue box, yellow and green toy blocks, red/yellow/blue circular discs, a wooden peg board, scissors, a tape measure, and a silver rod. A white robotic arm is positioned on the right side of the table, with an office area with desks and monitors in the background.", "global_instruction_dense": "The right robotic arm moves toward the wooden peg board, grasps the red disc on the board's peg, lifts the disc, moves it over the empty table area, releases the disc onto the table, then retracts back to its original position on the right side of the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 158, "tasks": ["place ball"], "length": 208, "global_instruction": "Pick the yellow circular disc from the orange peg strip and place it next to the blue circular disc on the worktable", "scene_description": "A wooden worktable in a lab office holds a dark blue box, yellow and green building blocks, an orange peg strip with a yellow disc attached, a blue circular disc, a green cube topped with a yellow block, a slotted wooden piece, a tape measure, and small tools. A robotic arm is positioned to the right of the table, with office desks and monitors visible in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the orange peg strip on the worktable, grasps the yellow circular disc attached to the strip, lifts the disc, moves it to the area next to the blue circular disc on the table, lowers the disc, releases it, then moves upward back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 159, "tasks": ["place ball"], "length": 216, "global_instruction": "Remove a red circular disk from the red peg rack and place it on the wooden tabletop.", "scene_description": "A wooden tabletop holds a blue NUC box on the left, a red peg rack with red pegs, yellow and blue circular disks, green and yellow small blocks, a slotted wooden block, yellow and green Lego bricks, and red scissors; a white and black robotic arm is positioned above the right side of the table, with an office workspace with monitors, cabinets, and office chairs in the background.", "global_instruction_dense": "The right robotic arm moves down to grasp a red circular disk from the red peg rack, lifts the disk, moves it over the table to an empty spot near the yellow and blue disks, releases the disk onto the table, then moves back up to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 160, "tasks": ["place ball"], "length": 209, "global_instruction": "Place red discs from the wooden peg rack onto the worktable surface.", "scene_description": "A wooden worktable in an office workspace holds a blue NUC box on its left, yellow/blue/red circular discs, green and yellow blocks, and a wooden peg rack with red discs; a robotic arm is positioned at the right edge of the table, with desks and computers in the background.", "global_instruction_dense": "The right robotic arm moves toward the wooden peg rack on the worktable, grasps a red disc from the rack, lowers it to place it on the table surface, moves back to grasp another red disc from the rack, lowers and releases it on the table, then retracts to its initial starting position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 161, "tasks": ["place ball"], "length": 248, "global_instruction": "Take a red disc from the wooden peg rack and place it on the table surface.", "scene_description": "A wooden lab table holds a blue NUC box on the left, yellow and green lego blocks at the front left, loose yellow, red, blue circular discs in the center, a wooden peg rack with mounted red discs, a small green block, a slotted wooden tray, and a black tape measure, with a robotic arm positioned at the right of the table.", "global_instruction_dense": "The right robotic arm moves left from its starting position toward the peg rack, grasps a red disc from the leftmost peg of the rack, lifts the disc, moves it down to the area of loose discs on the table, releases the disc onto the table, then lifts and returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 162, "tasks": ["place ball"], "length": 186, "global_instruction": "Pick up an orange circular piece from the white tray and place it on the wooden table surface.", "scene_description": "A light brown wooden table holds small items including a white tray with orange and blue circular pieces, an orange-handled white tool, yellow square blocks, green square blocks, red scissors, a white flexible tube, and black long strips. A robotic arm is positioned above the right edge of the table.", "global_instruction_dense": "The right robotic arm moves from its starting position above the right table edge toward the white tray, grasps an orange circular piece, lifts it, moves it to an empty spot on the table, releases the piece, then returns to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 163, "tasks": ["place ball"], "length": 197, "global_instruction": "Place an orange disc from the white plastic base onto the wooden worktable.", "scene_description": "A wooden worktable holds small objects including orange discs, yellow blocks, black foam strips, a white base with stacked orange and blue pieces, and an orange-headed tool. A robotic arm is positioned above the right of the table, with an office area, black curtains, and a colorful striped wall in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the white plastic base on the worktable, grasps an orange disc from the base, moves the disc to an empty spot on the table, releases it onto the table, then lifts back up to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 164, "tasks": ["place ball"], "length": 255, "global_instruction": "Pick up an orange disc from the table and place it on the white paper on the table.", "scene_description": "A wooden work table holds orange round discs, yellow discs, two green cubes, black strips, a white coiled tube, papers, and orange scissors. A robotic arm is positioned above the table, with a colorful striped wall, dark tool cabinet, and office workstations in the background.", "global_instruction_dense": "The right robotic arm lowers towards an orange disc on the center of the wooden table, grasps the disc with its gripper, lifts it, moves left over the white paper on the table, lowers and releases the disc onto the paper, then moves back up to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 165, "tasks": ["place ball"], "length": 397, "global_instruction": "Place a red round disc from the upper table onto the white paper on the table.", "scene_description": "A light brown wooden table holds small yellow, orange, red round discs, green square blocks, black foam strips, white paper, a white curved tube, and orange scissors. A white and black Franka robotic arm is positioned above the upper right of the table, with an office work area in the background and a striped partition behind the table.", "global_instruction_dense": "The right robotic arm moves downward toward the red round disc on the upper part of the wooden table, grasps the disc with its gripper, lifts it, moves leftward over the white paper, lowers and releases the disc onto the paper, then moves back upward to the upper right area above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 166, "tasks": ["place ball"], "length": 291, "global_instruction": "Place a red circular disc onto the peg of the wooden stacking toy on the worktable.", "scene_description": "A light brown wooden worktable holds a wooden peg stacking toy, orange circular discs, yellow circular discs, green square blocks, red scissors, a white U-shaped tool, black strips, and papers. A white robotic arm is positioned above the right side of the table, with office desks, monitors, and cabinets in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the wooden peg stacking toy on the worktable, adjusts position to align with a peg on the toy, places a red circular disc onto the aligned peg, then lifts upward and moves back away from the toy.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 167, "tasks": ["place ball"], "length": 257, "global_instruction": "Place a red circular disc onto the peg of the wooden puzzle board on the table.", "scene_description": "A light brown wooden table holds a wooden peg puzzle board, multiple red circular discs, orange and blue discs, small yellow discs, black long strips, two green cube blocks, a white U-shaped tool, red scissors, and white sheets of paper. A robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the red discs on the table, grasps a red circular disc, lifts it, moves it over the peg of the wooden puzzle board, lowers and releases the disc onto the peg, then lifts upward and moves away from the puzzle board.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 168, "tasks": ["place ball"], "length": 331, "global_instruction": "Place an orange disc onto a peg of the wooden pegboard.", "scene_description": "A light brown wooden table holds a wooden pegboard with red pegs, an orange disc, two yellow discs, two green square blocks, black long strips, red scissors, a white curved tube, white papers, and a pen, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves downward to grasp an orange disc on the table, lifts it, moves it over the wooden pegboard, lowers it onto an empty red peg, releases the disc, then moves back upward to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 169, "tasks": ["place ball"], "length": 271, "global_instruction": "Place a loose orange disc onto the top of the vertical orange stacking toy.", "scene_description": "A light wooden worktable in an office lab holds a vertical orange stacking toy with stacked orange discs, a loose orange disc next to the toy, an orange small bottle, orange scissors, a white piano-shaped toy with green blocks, black strips, white tubing, and papers, with a Franka Emika robotic arm above the rear of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the loose orange disc next to the stacking toy, grasps the disc, lifts it, positions it over the stacking toy's peg, lowers the disc to place it onto the peg, then releases the disc and retracts upward and backward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 170, "tasks": ["place ball"], "length": 252, "global_instruction": "Remove an orange disc from the top of the stacked vertical peg and place it on the wooden table", "scene_description": "A light brown wooden table holds a vertical wooden peg stacked with multicolored circular discs, black curved foam strips, red-handled scissors, white papers, green blocks and loose small orange discs; a white and black robotic arm is positioned above the right edge of the table, with office workstations in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the vertical stacked peg on the table, grasps the top orange disc on the peg, lifts the disc, moves it to the side of the peg, releases it onto the table surface, then moves upward back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 171, "tasks": ["place ball"], "length": 235, "global_instruction": "Place an orange ring disc onto the peg base with stacked orange rings.", "scene_description": "A light brown wooden table holds orange ring discs, a white peg base with stacked orange rings, green blocks, a red block, yellow discs, scissors, paper, and black foam strips. A white and black robotic arm is positioned above the right side of the table, with office desks, monitors, and cabinets in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the table, grasps an orange ring disc, lifts and moves the disc over the peg base holding stacked orange rings, lowers the disc onto the base's peg, releases the disc, then moves back upward to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 172, "tasks": ["place ball"], "length": 243, "global_instruction": "Pick an orange disc from the table and place it onto the peg of the white base holding stacked orange discs.", "scene_description": "A wooden table holds small objects including orange circular discs, green blocks, a red block, scissors, papers, and a white base with pegs holding stacked orange discs. A robotic arm is positioned above the right side of the table, with an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves down toward an orange disc on the table, grasps it, lifts it, moves it over the white base's peg, lowers and places the disc onto the peg, then releases the disc and lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 173, "tasks": ["place ball"], "length": 211, "global_instruction": "Place an orange round disc from the table onto the vertical peg of the wooden peg toy.", "scene_description": "A light brown wooden table holds various small objects including yellow round discs, a red plastic cube, orange round discs, a green cube, a green Lego brick, red-and-orange scissors, a black rectangular pad, and a light wooden peg toy with stacked orange and yellow rings; a white and black robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic gripper moves toward an orange round disc on the table, grasps it, lifts it, moves it over to the wooden peg toy's vertical peg, lowers the disc onto the peg, releases it, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 174, "tasks": ["place ball"], "length": 198, "global_instruction": "Pick an orange stacking disc from its stack and place it on the wooden table surface.", "scene_description": "A wooden table in an office lab holds a green Lego block, small yellow and red plastic pieces, orange stacking discs on a white base, a white tray with yellow and green square blocks, and orange-handled scissors, with a right robotic arm positioned above the table near the tray.", "global_instruction_dense": "The right robotic arm moves from above the white tray toward the stack of orange discs, grasps an orange disc from the top of the stack, lifts it, moves it leftward over the empty table surface, lowers and releases the disc onto the table, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 175, "tasks": ["place ball"], "length": 263, "global_instruction": "Place an orange circular disc from the table into the white plastic tray on the table.", "scene_description": "A wooden table in an office workspace holds various items: multiple orange circular discs, a red rectangular block, a green lego-style block, a yellow circular disc, orange-handled scissors, a green cylindrical block, a wooden sorting tray with green and yellow blocks, a white plastic tray with orange and blue pieces, a black rectangular pad, with a robotic arm positioned above the table and office desks, monitors, chairs in the background.", "global_instruction_dense": "The right robotic arm moves downward toward an orange circular disc on the wooden table, grasps the disc with its gripper, lifts and moves the disc over the white plastic tray, places the disc into the tray, then moves back upward to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 176, "tasks": ["place ball"], "length": 229, "global_instruction": "Place the blue disk from the tray onto the orange disk on the wooden table.", "scene_description": "A wooden tabletop in an office lab holds colorful circular disks (orange, blue, yellow), green and yellow blocks, red-handled scissors, a blue-and-orange peg toy, and black plastic components. A robotic arm is positioned above the table, with office desks, monitors, and chairs in the background.", "global_instruction_dense": "The right robotic arm moves downward to grasp the blue disk from the tray of orange disks on the table, lifts the disk, moves it over an orange disk on the table surface, releases the blue disk onto the orange disk, then moves back upward to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 177, "tasks": ["place ball"], "length": 211, "global_instruction": "Pick an orange disc from the wooden peg board and place it on the table surface.", "scene_description": "A wooden table in an office holds assorted small toys: orange round discs stacked on a wooden peg board, scattered orange, yellow, blue, green toy pieces, scissors, and a blue base with vertical orange pegs; a robotic arm is positioned above the right side of the table, with office desks, monitors, chairs, and a wall-mounted screen in the background.", "global_instruction_dense": "The right robotic arm lowers toward the wooden peg board on the table, grasps an orange disc from the board, lifts and moves the disc to an empty spot on the table, releases the disc onto the table, then retracts upward to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 178, "tasks": ["place ball"], "length": 233, "global_instruction": "Place the blue circular disc onto a peg of the wooden pegboard on the table.", "scene_description": "A light brown wooden table holds a blue circular disc, multiple orange circular pieces, a wooden pegboard with pegs, scissors, small yellow and green toy blocks, and a blue lever structure, set in an office workspace with desks and monitors in the background, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the blue circular disc on the table, grasps the disc, lifts it, moves it toward the wooden pegboard, lowers the disc onto an empty peg of the pegboard, releases the disc, then lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 179, "tasks": ["place ball"], "length": 224, "global_instruction": "Place an orange circular disc onto the wooden peg puzzle board on the table.", "scene_description": "A wooden table in an office workspace holds a wooden peg puzzle board, multiple orange circular discs, scissors, small colorful blocks, and plastic tools. A white robotic arm is positioned above the upper right area of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the orange discs on the wooden table, grasps an orange disc, lifts it, moves it over the wooden peg puzzle board, lowers it to place the disc on an empty peg of the board, then releases the disc and moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 180, "tasks": ["place ball"], "length": 227, "global_instruction": "Pick the yellow disc from the wooden peg board and place it on the black holder on the table.", "scene_description": "A wooden worktable is in an office setting, holding colorful toy pieces (yellow, orange, red, blue, green), a wooden peg board, scissors, black blocks, and a blue stand with orange levers, with a white robotic arm above the table and office desks with monitors in the background.", "global_instruction_dense": "The right robotic arm moves down toward the wooden peg board on the table, grasps a yellow disc, lifts it, moves it to the black holder on the table, lowers and releases the yellow disc onto the holder, then moves back to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 181, "tasks": ["place ball"], "length": 769, "global_instruction": "Place all red discs into the white paper cup and all yellow discs into the clear glass.", "scene_description": "A light yellow wooden table holds a clear empty glass on its left side, a white paper cup in the middle, five red circular discs and two yellow circular discs spread between the cups, with a robotic arm positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm sequentially grasps each red disc from the table, transfers and releases it into the white paper cup, then grasps each yellow disc, transfers and releases it into the clear glass, until all discs are sorted into their respective cups, then returns to a resting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 182, "tasks": ["place ball"], "length": 817, "global_instruction": "Place red discs into the clear glass and yellow discs into the white paper cup.", "scene_description": "A light wooden table holds five red circular discs, two yellow circular discs, a clear glass, and a white paper cup. The clear glass is centered on the table, the white cup is to the right of the glass, and the discs are to the left of the glass. A robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves to each red circular disc, grasps it, lifts it, and places it into the clear glass, then moves to each yellow circular disc, grasps it, lifts it, and places it into the white paper cup before retracting upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 183, "tasks": ["place ball"], "length": 781, "global_instruction": "Pick up all orange and yellow discs from the table and checkered board, and place them into the white cup.", "scene_description": "A light yellow wooden table holds a black-and-white checkered calibration board, three orange discs to the board's right, one orange and one yellow disc on the board, another yellow disc to the board's left, a white cup below the board, and a right robotic arm positioned above the right side of the table.", "global_instruction_dense": "The right robotic gripper sequentially grasps each orange disc to the right of the checkered board, lifts and moves each over the white cup to release them into it, then grasps the orange disc on the board and places it into the cup, then grasps the yellow disc on the board and places it into the cup, finally grasps the yellow disc left of the board and places it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 184, "tasks": ["place ball"], "length": 706, "global_instruction": "Move all discs from the checkered board to either the white cup or the table surface.", "scene_description": "A light yellow table holds a black-and-white checkered board, four orange discs, two yellow discs, and a white disposable cup. A Franka Emika robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm picks a yellow disc from the checkered board and places it into the white cup, then picks orange discs from the checkered board and places them on the table, picks the remaining yellow disc from the table and places it into the cup, moves the final orange discs from the board to the table, then returns to a resting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 185, "tasks": ["place ball"], "length": 727, "global_instruction": "Place all orange discs from the checkered board into the white paper cup and all yellow discs into the clear glass cup.", "scene_description": "A yellow wooden table holds a black-and-white checkered board with four orange discs and two yellow discs, a white paper cup, a clear glass cup, and a robotic arm positioned at the table's right side.", "global_instruction_dense": "The right robotic gripper repeatedly moves to the checkered board, grasps orange discs to place into the white paper cup, grasps yellow discs to place into the clear glass cup, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 186, "tasks": ["place ball"], "length": 735, "global_instruction": "Pick up discs from the checkered board, place yellow discs into the white paper cup and orange discs into the clear glass cup.", "scene_description": "A light yellow wooden table holds a black-and-white checkered board with three orange discs and two yellow discs on it, a white disposable paper cup, and a small clear glass cup, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves down to the checkered board, grasps orange discs one by one and places each into the clear glass cup, grasps yellow discs one by one and places each into the white paper cup, then returns to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 187, "tasks": ["place ball"], "length": 699, "global_instruction": "Pick up the orange and yellow discs from the checkered board and place them near the clear glass or into the white paper cup.", "scene_description": "A light yellow office table holds a black-and-white checkered board, three orange discs, two yellow discs, a clear glass ring, and a white paper cup; a robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm repeatedly grasps orange and yellow discs from the checkered board, lifts them, and moves them to either drop into the white paper cup or release onto the table near the clear glass ring until most discs are removed from the board.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 188, "tasks": ["place ball"], "length": 542, "global_instruction": "Place all orange discs from the checkerboard into the white paper cup and the blue disc into the transparent glass.", "scene_description": "A wooden office table holds a transparent glass at the lower left, a white paper cup at the middle left, and a checkerboard at the center with 4 orange discs and 1 blue disc. A robotic arm is positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm moves to the checkerboard to grasp each orange disc one by one, moves each to the white paper cup and drops it inside, grasps the blue disc and drops it beside the transparent glass, then moves back to a resting position after all discs are removed from the checkerboard.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 189, "tasks": ["place ball"], "length": 571, "global_instruction": "Place all orange discs into the white paper cup, then place the blue disc into the clear glass.", "scene_description": "A yellow tabletop holds a black-and-white QR grid board at its center, three orange discs on the grid, one orange disc and one blue disc left of the grid, a white paper cup right of the grid, and a clear glass below the grid, with a right robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm sequentially grasps each orange disc from the QR grid and table left of the grid, places each into the white paper cup right of the grid, then grasps the blue disc left of the grid and places it into the clear glass below the grid.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 190, "tasks": ["place ball"], "length": 568, "global_instruction": "Place all orange discs into the white paper cup and the blue disc into the clear glass cup on the table.", "scene_description": "A yellow table holds a black-and-white checkered board, three orange discs (one on the board, two on the table left of the board), one blue disc on the board, a white paper cup, and a clear glass cup. A robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm sequentially grasps orange discs from the checkered board and the table, moves each to the white paper cup and releases them inside, then grasps the blue disc from the checkered board, moves it to the clear glass cup and releases it inside, before returning to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 191, "tasks": ["place ball"], "length": 667, "global_instruction": "Place the red discs from the checkerboard and table into the white cup, and place the blue disc on the clear glass rim into the clear glass.", "scene_description": "A light yellow wooden table holds a white disposable cup, a wooden number puzzle printed with digits 1 through 5, a loose red disc next to the puzzle, a clear glass with a blue disc resting on its rim, and a black-and-white checkerboard patterned board with four red discs on its surface; a robotic arm is positioned above the table, with office chairs and workstations in the background.", "global_instruction_dense": "The right robotic gripper sequentially grasps red discs from the checkerboard and the table next to the number puzzle, moves each over the white cup and releases them into the cup, then grasps the blue disc on the clear glass rim and releases it into the clear glass, then grasps the final red disc on the checkerboard, releases it into the white cup, before lifting away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 192, "tasks": ["place ball"], "length": 664, "global_instruction": "Place all red discs into the white paper cup and the blue disc into the clear glass.", "scene_description": "A light yellow office table holds a black-and-white checkered board with four red discs and one blue disc, plus one additional red disc on the table beside the board. A white paper cup sits to the left of the board, a small clear glass is left of the cup, and a wooden number puzzle sits below the glass. A robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm sequentially grasps each red disc from the checkered board and adjacent table surface, moves each to the white paper cup and releases it inside, then grasps the blue disc from the board, moves it to the clear glass and releases it inside, before retracting upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 193, "tasks": ["place ball"], "length": 828, "global_instruction": "Pick up yellow and orange discs from the table and checkerboard, stack orange discs on the table, and place the yellow disc into the white paper cup", "scene_description": "A yellow office table holds three orange discs, a black-and-white checkerboard mat with one yellow disc and one orange disc on its surface, a roll of black tape, an empty white paper cup, and a wooden number puzzle with colorful digits on pegs. Gray office chairs surround the table, and glass office partitions are visible in the background.", "global_instruction_dense": "The right robotic arm moves down toward orange discs on the yellow table, grasps an orange disc, stacks it on another orange disc on the table, then moves to the checkerboard mat to grasp the yellow disc, lifts it, moves it over the white paper cup, releases it into the cup, then grasps the remaining orange disc from the checkerboard mat, moves it to stack with the other orange discs on the table, before lifting upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 194, "tasks": ["place ball"], "length": 684, "global_instruction": "Pick up the orange and yellow discs from the checkered board and place them into the clear glass and white cup.", "scene_description": "A light yellow office table holds a roll of dark gray tape, a wooden number puzzle, a black-and-white checkered board with three orange discs and two yellow discs, a single separate orange disc, a clear glass, and a white paper cup. A robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves to the checkered board, grasps each orange disc and places it into the clear glass, grasps each yellow disc and places it into the white paper cup, then returns to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 195, "tasks": ["place ball"], "length": 701, "global_instruction": "Place the yellow circular discs into the white paper cup and the orange circular discs into the clear glass on the table.", "scene_description": "A light yellow office table holds a black-and-white checkered board, a clear empty glass, a roll of black tape, a wooden number stacking toy, a white empty paper cup, one orange and two yellow circular discs on the checkered board, and three loose orange circular discs on the table surface. A Franka Emika robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the checkered board, grasps each yellow disc, lifts and drops them into the white paper cup, then grasps each orange disc from the checkered board and table surface, lifts and drops them into the clear glass, then moves back to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 196, "tasks": ["place ball"], "length": 618, "global_instruction": "Pick up the orange and blue circular discs from the checkered board and surrounding table area, and place them into the white plastic cup.", "scene_description": "A light yellow office table holds a black and white checkered board, four orange circular discs, one blue circular disc, a white plastic cup, a black tape roll, and a wooden number puzzle. A white robotic arm is positioned above the checkered board, with an office area with glass walls and workstations in the background.", "global_instruction_dense": "The right robotic arm sequentially grasps each orange disc from around and on the checkered board, moves each to the white plastic cup and drops it inside, then grasps the blue disc from the board and drops it on the table next to the cup, grasps the final orange disc from the left side of the board, drops it into the cup, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 197, "tasks": ["place ball"], "length": 571, "global_instruction": "Pick up all discs from the checkerboard mat and table, place orange discs into the white plastic cup and the blue disc into the clear glass.", "scene_description": "A light brown wooden table holds a black-and-white checkerboard mat, four orange discs, one blue disc, a white plastic cup, a clear glass, a roll of black tape, and a wooden number puzzle. A robotic arm is positioned above the checkerboard mat.", "global_instruction_dense": "The right robotic gripper sequentially grasps orange discs from the checkerboard mat and places each into the white plastic cup, grasps the blue disc from the checkerboard mat and places it into the clear glass, then grasps the final orange disc from the table surface and places it into the white plastic cup before returning to an idle position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 198, "tasks": ["place ball"], "length": 505, "global_instruction": "Place orange discs from the checkered board into the white plastic cup, and the blue disc into the clear glass cup.", "scene_description": "A light brown wooden table holds a black-and-white checkered board with four orange discs and one blue disc, a white plastic cup, a clear glass cup, a roll of black tape, and a printed number strip. A robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm sequentially grasps each orange disc from the checkered board, moves them to the white plastic cup and drops them in, then grasps the blue disc, moves it to the clear glass cup and releases it, then grasps the final orange disc, drops it into the white plastic cup, and returns to its starting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 199, "tasks": ["place ball"], "length": 353, "global_instruction": "Place the yellow discs into the white cup, then place the blue disc into the clear cup.", "scene_description": "A light brown table holds a black-and-white checkerboard pad with two yellow discs on it, a blue disc next to the pad, a white opaque cup, a clear transparent cup, a black tape roll, and a numbered wooden strip. A robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm grasps a yellow disc from the checkerboard pad, lifts and drops it into the white cup, then grasps a yellow disc from the pad, lifts and drops it into the white cup, then grasps a blue disc next to the pad, lifts and drops it into the clear cup, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 200, "tasks": ["place ball"], "length": 318, "global_instruction": "Place the blue disc into the white paper cup and the two yellow discs into the clear glass cup.", "scene_description": "A light wooden table holds a black-and-white checkered board, one blue disc, two yellow discs, a white paper cup, a clear glass cup, a roll of black tape, and a printed wooden number strip. A right robotic arm is positioned above the right edge of the table.", "global_instruction_dense": "The right robotic arm grasps the blue disc from the checkered board, moves it to the white paper cup and drops it inside, then grasps a yellow disc from the board, moves it to the clear glass cup and drops it inside, then grasps a yellow disc from the board, moves it to the clear glass cup and drops it inside, before returning to its resting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 201, "tasks": ["place ball"], "length": 342, "global_instruction": "Place yellow discs into the white paper cup and the blue disc into the clear glass.", "scene_description": "A light wooden office table holds a white paper cup, black tape roll, blue disc, yellow disc, wooden number puzzle, black-and-white checkerboard with a yellow disc on it, and clear glass, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm grasps the yellow disc on the checkerboard, drops it into the white paper cup, then grasps the blue disc on the table, drops it into the clear glass, then grasps the remaining yellow disc on the table, drops it into the white paper cup, then returns to a rest position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 202, "tasks": ["place ball"], "length": 365, "global_instruction": "Place the yellow discs into the white paper cup and the blue disc into the glass beaker", "scene_description": "A light yellow wooden table holds a white paper cup, black tape roll, wooden number puzzle strip, black-and-white calibration board (with two yellow discs and one blue disc on its surface), and a glass beaker placed below the calibration board. A white robotic arm is positioned above the right side of the table, with an office area containing refrigerators and workstations in the background.", "global_instruction_dense": "The right robotic arm moves down to grasp a yellow disc on the table, lifts it and releases it into the white paper cup, then moves to the calibration board to grasp a blue disc, lifts it and releases it into the glass beaker below the board, then grasps a yellow disc on the calibration board, lifts it and releases it into the white paper cup, before retracting back to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 203, "tasks": ["place ball"], "length": 774, "global_instruction": "Sort the discs by placing yellow discs into the white paper cup and orange discs into the clear glass.", "scene_description": "A light wooden table holds a black-and-white checkered board with orange and yellow discs, a white paper cup, a clear glass, a roll of black tape, a numbered wooden strip, and scattered orange discs, with a right robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm sequentially grasps yellow discs from the checkered board to place into the white paper cup, and grasps orange discs from the checkered board and table surface to place into the clear glass, completing the sorting task before returning to a raised position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 204, "tasks": ["place ball"], "length": 682, "global_instruction": "Place all orange discs into the clear glass cup and all yellow discs into the white paper cup on the table.", "scene_description": "A light brown wooden table holds a white paper cup, a clear glass cup, a black-and-white grid board with an orange disc and a yellow disc on it, several loose orange discs, one loose yellow disc, and a wooden number puzzle with pegs. A white robotic arm is positioned above the table in an open office space.", "global_instruction_dense": "The right robotic gripper sequentially grasps orange discs from the table and grid board, places each into the clear glass cup, then grasps yellow discs from the table and grid board, places each into the white paper cup, and moves back to a raised position after completing the task.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 205, "tasks": ["place ball"], "length": 747, "global_instruction": "Place yellow circular discs into the clear glass and orange circular discs into the white paper cup.", "scene_description": "A light wooden table holds a black-and-white checkered grid board, four orange circular discs, two yellow circular discs, a clear glass, a white paper cup, a wooden number puzzle, and a roll of black tape. A right robotic arm is positioned above the table near the grid board.", "global_instruction_dense": "The right robotic arm sequentially grasps a yellow disc to the right of the grid board, moves it to the clear glass and drops it inside; grasps four orange discs one by one from the table and grid board, moves each to the white paper cup and drops them inside; finally grasps the remaining yellow disc to the left of the grid board, moves it to the clear glass and drops it inside, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 206, "tasks": ["place ball"], "length": 729, "global_instruction": "Place yellow round discs into the clear glass bowl and orange round discs into the white plastic cup on the table.", "scene_description": "A light brown wooden table holds a clear glass bowl, white plastic cup, wooden number peg puzzle, multiple orange and yellow round discs, black-and-white checkered board, and black tape roll, with a right robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm sequentially grasps yellow round discs from the table and checkered board to place them into the clear glass bowl, and grasps orange round discs from the table and checkered board to place them into the white plastic cup, before returning to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 207, "tasks": ["place ball"], "length": 731, "global_instruction": "Sort yellow and orange circular discs by placing yellow discs into the clear glass and orange discs into the white plastic cup.", "scene_description": "A light wooden office table holds a white plastic cup, a black-and-white checkered board, a clear glass, a wooden 1-5 number puzzle, two orange circular discs, and a roll of black tape. The checkered board has additional orange and yellow circular discs resting on its surface, and a robotic arm is positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm moves to each yellow and orange circular disc on the checkered board and table surface, grasps each disc, transports it to the appropriate container (clear glass for yellow, white plastic cup for orange), releases the disc into the container, and returns to a resting position after all discs are sorted.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 208, "tasks": ["place ball"], "length": 713, "global_instruction": "Pick up the scattered yellow and orange circular discs on the table, place yellow discs into the white cup, and place orange discs near the number puzzle.", "scene_description": "A light wooden table holds a black-and-white checkered board, a white paper cup, a wooden 1-5 number puzzle, and scattered yellow and orange circular discs, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves over the light wooden table, grasps scattered yellow and orange circular discs one by one, lifts each disc, releases the yellow discs into the white paper cup, and releases the orange discs onto the table near the wooden number puzzle.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 209, "tasks": ["place ball"], "length": 728, "global_instruction": "Pick discs from the checkered board and table, place all orange discs on the table left of the board, and place a yellow disc into the white cup.", "scene_description": "A light brown wooden table holds a black-and-white checkered board with three orange discs, a white paper cup to the right of the board, a wooden numbered puzzle (1-5 with pegs) to the left of the board, two yellow discs and one loose orange disc on the table around the board, and a white robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm grasps orange discs from the checkered board one by one, places each on the table left of the board, then grasps a yellow disc from the table and drops it into the white cup, then grasps the last loose orange disc from the table, places it with the other orange discs, and lifts back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 210, "tasks": ["place ball"], "length": 849, "global_instruction": "Place orange disks into the white paper cup and yellow disks into the clear glass cup on the table.", "scene_description": "A light yellow wooden table holds a black-and-white checkered board, a white paper cup, two empty clear glass cups, a wooden number puzzle, and multiple orange and yellow circular disks. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper grasps orange disks from the checkered board and table surface, places them into the white paper cup, then grasps yellow disks from the table and wooden puzzle, places them into the clear glass cup, then grasps a final orange disk from the checkered board, places it into the white paper cup, and lifts to a neutral position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 211, "tasks": ["place ball"], "length": 803, "global_instruction": "Pick up the orange and yellow round discs and place them into the white cup and clear glass.", "scene_description": "A light brown wooden table holds a black-and-white checkerboard mat at its center, a white plastic cup left of the mat, a clear glass below the mat, a wooden number puzzle left of the glass, multiple orange round discs and yellow round discs on and around the mat, and a roll of black tape right of the mat. A robotic arm is positioned at the right side of the table.", "global_instruction_dense": "The right robotic gripper grasps each orange and yellow round disc on the table one by one, moves the discs to either the clear glass or white plastic cup, releases them into the respective receptacle, and moves back after all discs are placed.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 212, "tasks": ["place ball"], "length": 691, "global_instruction": "Place all orange disks into the white plastic cup and all yellow disks into the clear glass cup.", "scene_description": "A light yellow wooden table holds a white plastic cup, clear glass cup, black-and-white checkerboard mat, multiple orange and yellow circular disks, and a wooden 1-5 number puzzle with pegs. A robotic arm is positioned above the table near the checkerboard mat.", "global_instruction_dense": "The right robotic arm picks orange disks from the checkerboard mat and table surface to place into the white cup, picks yellow disks from the checkerboard mat and table surface to place into the clear glass cup, then moves back above the checkerboard mat after sorting all disks.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 213, "tasks": ["place ball"], "length": 676, "global_instruction": "Pick up all colored discs on the table and checkered mat, placing yellow discs into the clear glass and orange discs into the white paper cup.", "scene_description": "A light tan office table holds a black-and-white checkered mat, three orange circular discs, two yellow circular discs, a white paper cup, a clear glass, and a wooden number stacking toy. The checkered mat is near the table center, the white cup is right of the mat, the clear glass and stacking toy are left of the mat, and a white robotic arm is positioned above the right side of the mat.", "global_instruction_dense": "The right robotic arm sequentially picks each yellow circular disc on the table to place into the clear glass, and picks each orange circular disc on the table and checkered mat to place into the white paper cup, then lifts away from the table once all discs are placed.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 214, "tasks": ["place ball"], "length": 745, "global_instruction": "Place all yellow and orange round discs from the table into the clear glass.", "scene_description": "A light yellow wooden tabletop holds a black-and-white checkered calibration pad, multiple orange and yellow round discs, a white paper cup, a clear glass, a roll of black tape, and a wooden 1-5 number puzzle with pegs. A right robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves over the table and checkered pad, grasps yellow and orange round discs one by one with its gripper, lifts each disc, moves it to the clear glass, drops it into the glass, and finally resets its position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 215, "tasks": ["place ball"], "length": 769, "global_instruction": "Place all orange ring discs onto the checkered mat and all yellow ring discs into the white disposable cup.", "scene_description": "A light wooden table holds a black-and-white checkered mat (with one yellow ring disc on it), three orange ring discs, one additional yellow ring disc, a wooden number stacking toy, a white disposable cup, and a roll of black tape. A robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm sequentially grasps each orange ring disc from the table and places them onto the checkered mat, then grasps each yellow ring disc from the table and the checkered mat, and places them into the white disposable cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 216, "tasks": ["place ball"], "length": 692, "global_instruction": "Pick orange and yellow discs from the checkered board and glass cup, place orange discs into the white cup and drop yellow discs onto the table.", "scene_description": "A light wooden table holds a roll of dark tape, a wooden number puzzle strip, a clear glass cup, a white disposable cup, and a black-and-white checkered board with orange and yellow round discs on it; a robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm sequentially grasps orange and yellow discs from the checkered board and clear glass cup, places all grasped orange discs into the white disposable cup, drops all grasped yellow discs onto the table surface, then returns to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 217, "tasks": ["place ball"], "length": 774, "global_instruction": "Pick up all yellow and orange discs and the yellow ring from the table and puzzle, place yellow items into the clear container and orange discs into the white cup.", "scene_description": "A light brown wooden table in an office environment holds a black and white checkered calibration mat, a clear cylindrical plastic container left of the mat, a white disposable plastic cup right of the mat, a wooden number puzzle with pegs below the container, two orange discs and one yellow disc near the mat, and a yellow ring on the puzzle's peg. A white collaborative robotic arm with a black gripper is positioned above the checkered mat.", "global_instruction_dense": "The left robotic gripper moves across the table to grasp the yellow ring from the wooden puzzle, releases it into the clear cylindrical container, then sequentially grasps orange discs from the table, releases each into the white plastic cup, grasps a yellow disc from the checkered mat and releases it into the clear container, then grasps the final remaining orange disc, releases it into the white cup, and returns to a position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 218, "tasks": ["place ball"], "length": 643, "global_instruction": "Place all orange and yellow discs from the game board and table into the white plastic cup.", "scene_description": "A light brown tabletop holds a black-and-white checkered game board with three orange discs and one yellow disc, a white plastic cup, a roll of black tape, a wooden numbered peg puzzle, one separate yellow disc and one separate orange disc, with a right robotic gripper positioned above the game board.", "global_instruction_dense": "The right robotic gripper sequentially grasps orange and yellow discs from the checkered game board and table surface, lifts each disc, moves it to the white plastic cup, and releases it into the cup until all discs are placed inside the cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 219, "tasks": ["place ball"], "length": 644, "global_instruction": "Place the orange and blue circular disks from the table and checkerboard pad into the clear glass and white paper cup.", "scene_description": "A light brown wooden table holds a white paper cup, black tape roll, clear empty glass, four orange circular disks, one blue circular disk, a black-and-white checkerboard calibration pad, and a wooden numbered peg toy, with a right robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm first grasps an orange disk from the checkerboard pad and places it into the clear glass next to the black tape roll, then grasps the blue disk from the pad and places it into the white paper cup, then grasps three successive orange disks from the table surface and places each into the clear glass, before returning to its resting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 220, "tasks": ["place ball"], "length": 674, "global_instruction": "Pick up all round discs on the table and grid board, place the blue disc in the white paper cup, and place all orange discs in the clear glass.", "scene_description": "A light wooden table holds a roll of gray duct tape, a white paper cup, a black-and-white grid board, multiple orange round discs, one blue round disc, a clear empty glass, and a wooden peg toy with upright pegs. A single robotic arm is positioned above the right side of the table, in an open office space with glass partitions in the background.", "global_instruction_dense": "The right robotic gripper sequentially grasps an orange disc from the grid board and places it in the clear glass, grasps the blue disc from the table and places it in the white paper cup, then grasps each remaining orange disc from the table and grid board one by one, placing each into the clear glass, before moving upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 221, "tasks": ["place ball"], "length": 753, "global_instruction": "Place the small orange disks into the clear glass and the small blue disk into the white cup on the table.", "scene_description": "A wooden table in an office holds a roll of gray tape, a clear glass, a white disposable cup, a white ArUco marker board, a wooden pegboard with pegs, multiple small orange disks, and one small blue disk. A Franka Emika robotic arm is positioned on the right side of the table, and a person with a backpack is visible on the left in the background.", "global_instruction_dense": "The right robotic arm sequentially grasps each small orange disk on the wooden table, lifts and places each into the clear glass, then grasps the small blue disk and places it into the white disposable cup, before returning to a resting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 222, "tasks": ["place ball"], "length": 560, "global_instruction": "Place the orange discs onto the peg base and the blue disc into the white plastic cup.", "scene_description": "A light brown wooden table holds a white plastic cup on a black circular base, four orange circular discs, one blue circular disc, a pair of orange-handled scissors, and a peg base with four pegs. A white robotic arm is positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm sequentially grasps each orange disc on the table, places each onto a peg of the peg base, then grasps the blue disc, moves it over the white plastic cup, drops it inside, then moves back to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 223, "tasks": ["place ball"], "length": 502, "global_instruction": "Place all orange round discs on the table into the white plastic cup.", "scene_description": "A light brown wooden table holds a black tape roll, blue-handled scissors, four orange round discs, a white plastic cup, a wooden peg rack, and a small clear bowl, with a Franka robotic arm positioned above the table in an open office space.", "global_instruction_dense": "The right robotic gripper moves to each orange round disc on the table, grasps each disc, lifts it, moves it over the white plastic cup and drops it into the cup, after removing the blue cap from the scissors and placing it on the table, until all orange discs are in the cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 224, "tasks": ["place ball"], "length": 896, "global_instruction": "Place all orange circular disks from the table into the white plastic cup.", "scene_description": "A light wooden table holds a white plastic cup on the left, scattered orange and yellow circular disks, a black tape roll, a wooden pegboard, scissors, and thin wires, with a robotic arm above the right side of the table.", "global_instruction_dense": "The right robotic arm sequentially grasps each orange circular disk on the table, moves each disk over the white plastic cup, drops it into the cup, makes failed attempts to grasp yellow disks, then places the final orange disk and returns to a resting position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 225, "tasks": ["place ball"], "length": 711, "global_instruction": "Place orange flat circular discs into the white plastic cup and yellow flat circular discs into the clear glass on the table.", "scene_description": "A light brown wooden table holds yellow-handled scissors, a clear glass, a white 1-5 number puzzle, multiple orange and yellow flat circular discs, a white plastic cup, and a roll of gray duct tape, with a robotic arm mounted on the table's right edge in an office environment.", "global_instruction_dense": "The right robotic arm sequentially grasps each orange flat circular disc, places each into the white plastic cup, grasps each yellow flat circular disc, places each into the clear glass, then retracts away from the table after all placements are complete.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 226, "tasks": ["place ball"], "length": 749, "global_instruction": "Place all orange circular discs into the clear plastic cup and all yellow circular discs into the white paper cup.", "scene_description": "A light brown wooden table holds orange-handled scissors, multiple orange circular discs, multiple yellow circular discs, a rectangular wooden number puzzle, a clear plastic cup, a roll of dark grey duct tape, and a white paper cup arranged from left to right. A Franka Emika robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm grasps each orange circular disc on the table individually, moves each over the clear plastic cup and releases it into the cup, moves the wooden number puzzle aside to access a hidden disc, then grasps each yellow circular disc individually, moves each over the white paper cup and releases it into the cup, before moving away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 227, "tasks": ["place ball"], "length": 867, "global_instruction": "Place red discs into the clear glass and yellow discs into the white plastic cup on the table.", "scene_description": "A light wooden table holds a white plastic cup, black-and-yellow handled scissors, a white numbered peg board with red discs on its pegs, loose red and yellow discs, and a clear glass, with a robotic arm positioned at the table's right side in an open office space.", "global_instruction_dense": "The right robotic gripper picks up loose red discs from the table and releases each into the clear glass, picks up a yellow disc from the table and releases it into the white plastic cup, picks up red discs from the numbered peg board and releases each into the clear glass, picks up another yellow disc from the table and releases it into the white plastic cup, picks up the final red disc from the peg board and releases it into the clear glass, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 228, "tasks": ["place ball"], "length": 894, "global_instruction": "Place yellow circular discs into the transparent glass and orange circular discs into the white plastic cup", "scene_description": "A light brown wooden table in an office holds scissors with black blades and yellow handles, a white plastic cup, multiple orange circular discs, two yellow circular discs, a wooden numbered peg board, a transparent glass, and a robotic arm on the table's right side.", "global_instruction_dense": "The right robotic gripper grasps each yellow circular disc, moves it over the transparent glass and releases it into the glass, then grasps each orange circular disc, moves it over the white plastic cup and releases it into the cup, before returning to a resting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 229, "tasks": ["place ball"], "length": 912, "global_instruction": "Place all the orange and yellow circular discs on the table into the small clear glass on the table.", "scene_description": "A light brown wooden table holds black-and-yellow handled scissors, five orange circular discs, two yellow circular discs, a wooden numbered puzzle base, a small clear glass, and a white disposable cup, with a Franka Emika robotic arm on the right side of the table.", "global_instruction_dense": "The right robotic gripper individually grasps each orange and yellow circular disc from the table, lifts each disc, moves it over the small clear glass on the table, releases the disc into the glass, and returns to its initial position after all discs are placed.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 230, "tasks": ["place ball"], "length": 824, "global_instruction": "Place all red circular discs from the table into the white plastic cup, and place all yellow circular discs next to the clear drinking glass.", "scene_description": "A light wooden table holds a white plastic cup, a clear drinking glass, five red circular discs, two yellow circular discs, orange-handled scissors, a numbered wooden peg puzzle, and a Franka Emika robotic arm at the right edge of the table.", "global_instruction_dense": "The right robotic arm first picks up each yellow circular disc on the table and places it next to the clear drinking glass, then picks up each red circular disc on the table and places it into the white plastic cup, before moving away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 231, "tasks": ["place ball"], "length": 785, "global_instruction": "Pick up all red and yellow flat circular discs on the tabletop, place red discs into the white paper cup and yellow discs into the clear glass cup.", "scene_description": "A light brown wooden tabletop holds five red flat circular discs, two yellow flat circular discs, a white disposable paper cup at the center, a clear empty glass to the left of the white cup, and a pair of scissors to the right of the white cup, with a right robotic gripper positioned above the right side of the table.", "global_instruction_dense": "The right robotic gripper sequentially moves to each scattered flat circular disc on the table, grasps each red disc and places it into the central white paper cup, grasps each yellow disc and places it into the clear glass cup to the left of the white cup, then moves upward away from the table once all discs are placed.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 232, "tasks": ["place ball"], "length": 818, "global_instruction": "Place all red discs into the white plastic cup and all yellow discs into the clear glass cup on the table.", "scene_description": "A light brown wooden table holds 5 red circular discs, 2 yellow circular discs, a small clear glass cup, a white plastic cup, and orange-handled scissors; a right robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm sequentially grasps each red disc on the table, lifts and places each into the white plastic cup, then sequentially grasps each yellow disc on the table, lifts and places each into the clear glass cup, before moving back to its initial resting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 233, "tasks": ["place ball"], "length": 857, "global_instruction": "Pick up the colored flat discs from the table and place them into the clear glass and white cup.", "scene_description": "A light wooden table holds five red flat discs, two yellow flat discs, a small clear glass, a white plastic cup, and orange-handled scissors; a robotic arm is positioned above the table near the white cup.", "global_instruction_dense": "The right robotic arm moves over the light wooden table, sequentially grasps red and yellow flat discs, places red discs into the small clear glass and yellow discs into the white plastic cup, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 234, "tasks": ["place ball"], "length": 786, "global_instruction": "Place the orange circular disks into the clear glass cup and the blue circular disk into the white paper cup.", "scene_description": "A light brown office table holds a wooden numbered peg puzzle, five orange circular disks, one blue circular disk, a small clear glass cup, a white paper cup, a pen, and a pair of scissors, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic gripper moves down to grasp orange circular disks from the table, places each into the small clear glass cup, then grasps the blue circular disk and places it into the white paper cup, then grasps the remaining orange disks and places them into the clear glass cup before returning to its starting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 235, "tasks": ["place ball"], "length": 610, "global_instruction": "Place all orange and blue round discs on the table into the stacked clear plastic cups.", "scene_description": "A light yellow wooden office table holds orange-handled scissors at the left, four orange round discs, one blue round disc, a numbered vertical-post stacking toy, and two stacked clear plastic cups at the right, with a right robotic arm positioned above the table's right side.", "global_instruction_dense": "The right robotic arm sequentially grasps each orange round disc from the table, lifts and drops each into the stacked clear plastic cups, then grasps the blue round disc, lifts and drops it into the cups, before moving away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 236, "tasks": ["place ball"], "length": 705, "global_instruction": "Place all orange circular discs into the white paper cup and the blue circular disc into the small clear glass.", "scene_description": "A light wooden table holds four orange circular discs, a blue disc on a numbered wooden puzzle, yellow-handled scissors, a small clear glass, and a white paper cup, with a robotic arm positioned above the table.", "global_instruction_dense": "The left robotic arm grasps each orange circular disc from the table one by one, places each into the white paper cup, grasps the blue circular disc from the numbered puzzle, places it into the small clear glass, grasps the final orange disc and places it into the white cup, then retracts from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 237, "tasks": ["place ball"], "length": 711, "global_instruction": "Place all small orange circular disks on the table into the white plastic cup.", "scene_description": "A light brown wooden table holds a white plastic cup near the right edge, three small orange circular disks, a small blue circular disk on a white sheet of paper, and a wooden number puzzle on the left. A Franka Emika right robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic gripper sequentially grasps each small orange disk on the table, lifts it, moves it over the white plastic cup, and releases it into the cup, briefly grasping and replacing a blue disk during the process before resetting position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 238, "tasks": ["place ball"], "length": 639, "global_instruction": "Pick up orange circular discs from the table and place them into the white plastic cup.", "scene_description": "A light yellow wooden table holds a white plastic cup near its center, multiple orange flat circular discs, one blue flat circular disc, a wooden number puzzle on the left, a pair of scissors, gray small objects resting on a white sheet of paper, and a Franka Emika robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward orange circular discs on the table, grasps each disc, lifts it, moves it over the white plastic cup, and releases it into the cup, briefly interacting with and dropping a blue disc before returning to placing orange discs.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 239, "tasks": ["place ball"], "length": 530, "global_instruction": "Place the orange circular discs into the white cup and the blue circular disc into the clear cup on the table.", "scene_description": "A light wooden office table holds a white plastic cup, a clear plastic cup, a white notebook with scissors, four orange circular discs, one blue circular disc, and a wooden number puzzle, with a robotic arm at the table's right side.", "global_instruction_dense": "The right robotic arm grasps each of the four orange circular discs and places them into the white cup, grasps the blue circular disc and places it into the clear cup, then retracts to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 240, "tasks": ["place ball"], "length": 694, "global_instruction": "Pick up the circular discs on the table and place the orange discs into the white plastic cup.", "scene_description": "A light wooden table holds one blue circular disc, four orange circular discs, a white plastic cup, a small clear glass, a wooden number puzzle, a pair of scissors, and a notepad with gray fabric pieces, with a robotic arm positioned above the right side of the table in an office environment.", "global_instruction_dense": "The right robotic arm moves toward the blue disc on the table, grasps it, moves it over the white cup before releasing it onto the table near the cup, then sequentially grasps each orange disc on the table, moves each over the white plastic cup, and releases each into the cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 241, "tasks": ["place ball"], "length": 547, "global_instruction": "Place all orange and blue circular discs on the wooden table into their respective cups.", "scene_description": "A light wooden table holds a wooden number stacking toy, a white paper cup, a white notepad with scissors and gray cloth pieces, four orange circular discs, one blue circular disc, and a clear empty cup arranged from left to right; a robotic arm is positioned on the right side of the table.", "global_instruction_dense": "The right robotic arm sequentially grasps two orange circular discs and places each into the clear cup, then grasps the blue circular disc and places it into the white paper cup, then grasps the remaining two orange circular discs and places each into the clear cup, before returning to its initial raised position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 242, "tasks": ["place ball"], "length": 684, "global_instruction": "Place the small orange round discs into the white plastic cup and the small blue round disc into the clear glass cup.", "scene_description": "A light yellow wooden table holds a wooden number puzzle, a clear glass cup, a white plastic cup, small orange round discs, a pair of scissors, a white sheet of paper, a small blue round disc, and silver duct tape pieces. A robotic arm is positioned above the table, with an office with refrigerators and cubicles in the background.", "global_instruction_dense": "The right robotic arm sequentially grasps four small orange round discs from the table, places each into the white plastic cup, then grasps the small blue round disc, places it into the clear glass cup, and finally moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 243, "tasks": ["place ball"], "length": 582, "global_instruction": "Place the orange circular discs into the white paper cup and the blue circular disc into the clear glass on the table.", "scene_description": "A light wooden office table holds a white paper cup, a clear glass, black scissors, multiple orange circular discs, one blue circular disc, a wooden number puzzle with colored digits, and crumpled gray tape pieces on a white sheet, with a robotic arm positioned on the right of the table.", "global_instruction_dense": "The right robotic gripper sequentially grasps orange circular discs and the blue circular disc from the table, places each orange disc into the white paper cup and the blue disc into the adjacent clear glass, then returns to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 244, "tasks": ["place ball"], "length": 540, "global_instruction": "Place all orange and blue circular discs on the table and notepad into the white plastic cup", "scene_description": "A light wood table in an office holds a white plastic cup, black scissors, a white notepad with two orange circular discs and gray tape, one blue circular disc, three orange circular discs, and a wooden number peg puzzle, with a robotic arm positioned above the table. Office cubicles and refrigerators are visible in the background.", "global_instruction_dense": "The right robotic arm sequentially grasps each orange and blue circular disc from the notepad and table surface, lifts each disc, moves it over the white plastic cup, releases it into the cup, then returns to its initial position above the table after all discs are placed.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 245, "tasks": ["place ball"], "length": 843, "global_instruction": "Pick up all discs from the table and place them into the clear container next to the checkerboard mat.", "scene_description": "A light tan table holds a white paper cup on the left, a black and white checkerboard mat adjacent to the cup, a clear container next to the checkerboard mat, a wooden 1-5 number puzzle, one yellow disc, five orange discs, a pair of scissors, and a robotic arm on the right side.", "global_instruction_dense": "The right robotic arm sequentially grasps the yellow disc and each of the five orange discs from the table, lifts each disc, moves it over the clear container beside the checkerboard mat, drops each disc into the container, then retracts once all discs are stored.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 246, "tasks": ["place ball"], "length": 640, "global_instruction": "Place all red discs on the checkered board and table into the white paper cup.", "scene_description": "A light yellow table holds a white paper cup (left side), a black-and-white checkered board with two red discs on its surface, three loose red discs, one blue disc, a wooden number puzzle, and orange-handled scissors. A white-and-gray robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm first picks up the blue disc near the wooden puzzle and drops it on the table, then sequentially picks up each red disc from the table and checkered board, moving each to the white paper cup and releasing it into the cup, before returning to a raised position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 247, "tasks": ["place ball"], "length": 632, "global_instruction": "Pick up discs from the checkered board and place them onto the adjacent table, then place a red disc back onto the board.", "scene_description": "A light yellow wooden table holds a black-and-white checkered board with four red discs and one blue disc on it, one red disc on the table left of the board, a wooden 1-5 number puzzle below the board, and a white paper cup to the right of the board, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic gripper repeatedly moves to the checkered board, grasps a red or blue disc, lifts it, moves it to the table left of the board and releases it, then grasps a red disc from the table, places it back onto the checkered board, and returns to its starting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 248, "tasks": ["place ball"], "length": 659, "global_instruction": "Place the red circular discs on the table into the white cup and the blue circular disc onto the checkered pad.", "scene_description": "A yellow wooden table holds a white paper cup on a black-and-white checkered pad, multiple red circular discs, one blue circular disc, a wooden number puzzle board, and a pair of scissors, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic gripper sequentially grasps each red circular disc from the table, lifts it, moves it over the white paper cup, and drops it into the cup, then grasps the blue circular disc, moves it over the black-and-white checkered pad, and releases it onto the pad.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 249, "tasks": ["place ball"], "length": 539, "global_instruction": "Place the green and yellow balls from the toy kitchen sink into the left lower cabinet of the kitchen set.", "scene_description": "A white toy kitchen set is in an office space. Its sink holds a green ball and a yellow ball, a light green bowl sits on its stovetop, and its left lower cabinet door is closed. A robotic arm is positioned to the left of the kitchen set.", "global_instruction_dense": "The left robotic arm opens the left lower cabinet door of the toy kitchen, grasps the green ball from the kitchen sink, moves and places the green ball inside the open cabinet, then grasps the yellow ball from the sink, moves and places the yellow ball inside the same open cabinet, then retracts away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 250, "tasks": ["place ball"], "length": 578, "global_instruction": "Place the yellow and green balls from the toy kitchen sink into the open lower cabinet.", "scene_description": "A white toy kitchen setup is on a light-colored floor. The kitchen's sink holds a yellow ball and a green ball, a blue detergent bottle sits to the sink's right, a light green bowl with a green item inside rests on the stove burner, the lower oven cabinet door is open, the upper left cabinet door is closed, and a robotic arm is partially visible at the frame top.", "global_instruction_dense": "The right robotic arm first opens the upper left cabinet door of the toy kitchen, then grasps the yellow ball from the sink, moves it into the open lower cabinet and releases it, next grasps the green ball from the sink, moves it into the open lower cabinet and releases it, before moving away from the kitchen.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 251, "tasks": ["place ball"], "length": 407, "global_instruction": "Place the small white ball into a white plastic cup and the pink basketball onto the brown adhesive tape roll.", "scene_description": "A wooden table holds a small white ball, a pink basketball, two white plastic cups, a brown adhesive tape roll, a yellow adhesive tape roll, a white paper sheet, a small wooden parts tray, and a brown Amazon cardboard box behind the cups, with a right robotic gripper positioned above the right white cup.", "global_instruction_dense": "The right robotic gripper moves from above the right white cup toward the small white ball on the table, grasps it, lifts and moves it to the left white cup, releases it into the cup, then moves to the pink basketball, grasps it, lifts and moves it to the brown tape roll, lowers and releases it onto the tape roll before moving away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 252, "tasks": ["place ball"], "length": 425, "global_instruction": "Place the small white ball into the farther white cup, then place the pink basketball onto the grey tape roll.", "scene_description": "A wooden table holds a small white ball at its center, a pink miniature basketball on the left, a roll of grey tape below the pink ball, a white cloth at the far left, two white plastic cups near a brown cardboard box at the table's rear, and a robotic arm at the table's upper right.", "global_instruction_dense": "The right robotic arm moves to the small white ball on the table, grasps and lifts it, moves it to the farther white cup and drops it inside, then moves to the pink basketball, grasps and lifts it, moves it over the grey tape roll, lowers it, and places it onto the grey tape roll.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 253, "tasks": ["place ball"], "length": 102, "global_instruction": "Move the pink ball on the table to a position closer to the cardboard box", "scene_description": "A light brown wooden table is in an office workspace. On the table, a pink ball sits near a multicolored wooden stacking toy, two white paper cups are next to a cardboard box on the right, and a white notepad rests on the left side of the table. A robotic arm is positioned above the right side of the table near the box initially.", "global_instruction_dense": "The right robotic arm moves from its initial position near the cardboard box toward the pink ball on the table, grasps the ball with its gripper, lifts and shifts it rightward closer to the cardboard box, then lowers and releases the ball onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 254, "tasks": ["place ball"], "length": 505, "global_instruction": "Place the red discs from the left pegs of the wooden pegboard onto the empty right pegs of the board.", "scene_description": "An office workspace with a wooden table in the foreground. A small pink basketball sits on the left of the table, a wooden pegboard with two red discs on its left pegs is at the center-right, and cardboard boxes, white cups, tape, a pencil, and a small speaker are also placed on the table, with office desks, monitors, and chairs in the background.", "global_instruction_dense": "The right robotic gripper enters the frame from the top right, sequentially moves to each red disc on the left pegs of the wooden board, grasps each disc, lifts it, moves it to an empty peg on the right side of the board, and places it onto the peg, until all red discs are positioned on the right side pegs.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 255, "tasks": ["place ball"], "length": 651, "global_instruction": "Place all red circular discs from the left slots of the wooden peg base onto the empty wooden pegs on the same base.", "scene_description": "A wooden table in an office setting holds a pink mini basketball on the left, a roll of gray tape next to the basketball, a white circular speaker resting on a white cloth, a rectangular wooden peg base with three red circular discs in left slots and three empty wooden pegs to the right of the discs, two white paper cups, a brown cardboard box on the right side of the table, and a crumpled silver object at the front of the table, with a robotic arm positioned at the upper right above the table.", "global_instruction_dense": "The right robotic gripper moves toward the wooden peg base on the table, grasps a red disc from the left slots of the base, lifts it, moves it to an empty wooden peg on the right side of the base, lowers and places the disc onto the peg, and repeats this process for each remaining red disc until all discs are placed on the pegs.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 256, "tasks": ["place ball"], "length": 659, "global_instruction": "Place all three red circular discs from the flat section of the wooden base onto the wooden pegs of the same base.", "scene_description": "A wooden table in an office holds a pink basketball on the left, a roll of gray tape, a white notebook with a small white camera on top, a wooden base with three red circular discs and four empty wooden pegs, two white cups, and a cardboard box on the right. A robotic arm is positioned at the upper right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the wooden base on the table, sequentially grasps each red circular disc from the flat part of the base, lifts each disc, places it onto an empty wooden peg on the base, and retracts slightly after each placement until all three discs are mounted on the pegs.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 257, "tasks": ["place ball"], "length": 1058, "global_instruction": "Remove all toy objects from both black bowls and place them onto the light wooden tabletop.", "scene_description": "Two black bowls rest on a light wooden tabletop. The front left bowl holds a yellow banana, a green pear-shaped toy, a yellow ball, and a small red toy; the back right bowl holds a red bell pepper, a yellow ball, and a small green ball.", "global_instruction_dense": "The right robotic gripper sequentially grasps each toy object from the front left black bowl and the back right black bowl, moves each object over the tabletop, releases it onto the table, and continues until both bowls are empty.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 258, "tasks": ["place ball"], "length": 813, "global_instruction": "Place all the fruits and balls on the table into the two black bowls.", "scene_description": "A light wooden table holds two empty black bowls (front-left and back-right), plus a green pear, yellow banana, orange fruit, small red round fruit, light green ball, multiple yellow balls, green ball, and red radish with green leaves.", "global_instruction_dense": "The right robotic arm sequentially grasps each fruit and ball on the table, lifts them, and places them into either the front-left or back-right black bowl until all items are placed in the bowls.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 259, "tasks": ["place ball"], "length": 879, "global_instruction": "Remove all objects from the foreground black bowl and place them onto the tabletop, then remove objects from the background black bowl and place them on the tabletop.", "scene_description": "A light wooden tabletop holds a black bowl in the foreground, containing a yellow banana, a bright green spherical ball, a dark green pear, and a light green apple. A second black bowl with yellow balls, red and yellow apples sits in the background.", "global_instruction_dense": "The right robotic gripper sequentially grasps each object inside the foreground black bowl, lifts each, places them onto the empty surface of the wooden table, then grasps objects from the background black bowl and places or drops them onto the table or off the table edge.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 260, "tasks": ["place ball"], "length": 126, "global_instruction": "Place the crumpled silver foil ball onto the black worktable.", "scene_description": "A black worktable is in the foreground, with a small red round tape on its upper section, a right robotic arm with a printed white cloth attached to its end above the table, a black optical platform with a pen and white robotic base on the right of the worktable, and office workstations in the background.", "global_instruction_dense": "The right robotic arm moves its end effector holding the printed cloth containing the crumpled silver foil ball leftward and downward, then releases the crumpled silver foil ball onto the surface of the black worktable.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 261, "tasks": ["place ball"], "length": 416, "global_instruction": "Place the golden circular disk on the table into the clear glass jar.", "scene_description": "A clear glass jar rests on the right portion of a white tabletop, a small golden circular disk sits at the center of the white table, a striped fabric couch is positioned to the right of the table, and horizontal blinds are visible in the background.", "global_instruction_dense": "The right robotic arm enters the frame from above, descends to grasp the golden circular disk at the center of the white table, lifts the disk, moves it horizontally over the clear glass jar, lowers it, and releases it into the jar.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 262, "tasks": ["place ball"], "length": 222, "global_instruction": "Pick up the yellow ball from the windowsill and place it on the white plate on the side table", "scene_description": "A brown couch sits on the left, adjacent to a light wooden side table holding a white plate, white mug, and small keys. A white heater is below a windowsill with small items to the table's right, and a silver robotic arm with blue lights rests on a black table on the far right.", "global_instruction_dense": "The right robotic arm moves toward the yellow ball on the windowsill, grasps it, lifts it, moves it leftward over the white plate on the wooden side table, lowers it, and releases it onto the plate before retracting.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 263, "tasks": ["place ball"], "length": 479, "global_instruction": "Place the white mug on the window sill, put the yellow ball on the white plate, then close the extended shelf.", "scene_description": "A brown sofa is on the left, a light wooden side table next to it holds a white plate, white mug, and small key; an extended wooden shelf attached to the table holds a yellow ball and papers, a heater under a window is behind the shelf, and a robotic arm is on a dark table to the right.", "global_instruction_dense": "The right robotic arm grasps the white mug on the side table, lifts it and places it on the window sill, then grasps the yellow ball on the extended shelf, moves it to the white plate on the side table and releases it, then pushes the extended wooden shelf closed.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 264, "tasks": ["place ball"], "length": 206, "global_instruction": "Place the yellow ball onto the white plate on the wooden side table", "scene_description": "A light brown wooden side table against a white wall holds a white mug, white round plate, and small set of keys. A brown sofa is to the left of the table, a black worktable with a white robotic arm is to the right, a white heater sits under the window, and a red and blue cap rests on the windowsill.", "global_instruction_dense": "The right robotic gripper holding a yellow ball moves from the right worktable toward the wooden side table, lowers the ball onto the white plate on the table, then releases the ball and lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 265, "tasks": ["place ball"], "length": 249, "global_instruction": "Pick up the yellow ball from the side table and place it on the window sill", "scene_description": "A brown fabric sofa is at the lower left. A light brown wooden cabinet holds a white mug, a white plate with a black strap, and small keys. An attached small light wood side table holds a yellow ball. A white radiator sits under a window with a red and blue cap on its sill, and a robotic arm is on a dark table to the right.", "global_instruction_dense": "The right robotic arm moves toward the yellow ball on the small side table, grasps the ball with its gripper, lifts it upward to the window sill, releases the ball onto the sill, then moves back down toward the side table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 266, "tasks": ["place ball"], "length": 192, "global_instruction": "Place the yellow ball onto the white plate on the wooden side table", "scene_description": "A brown couch is on the left, next to a light wooden side table holding a white mug, white plate, orange screwdriver, and papers. A robotic arm is on a black table to the right, with a red cap, blue item, and small stone on the window sill above a radiator.", "global_instruction_dense": "The right robotic arm grasps a yellow ball near the window, moves it leftward over the white plate on the side table, lowers the ball, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 267, "tasks": ["place ball"], "length": 196, "global_instruction": "Pick the yellow ball from the extended shelf and place it on the wooden cabinet next to the white plate.", "scene_description": "A brown sofa is in the foreground, a light wooden cabinet with a white plate holding a key sits on the left, an extended small light wooden shelf adjacent to the cabinet holds a yellow ball, a robotic arm is positioned on a dark table to the right, and a red and blue cap rests on the window ledge in the background.", "global_instruction_dense": "The right robotic arm moves down toward the yellow ball on the extended small wooden shelf, grasps the ball with its gripper, lifts it, moves left over the light wooden cabinet, lowers the ball, and places it on the cabinet surface next to the white plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 268, "tasks": ["place ball"], "length": 236, "global_instruction": "Pick the yellow ball from the blue bowl on the window sill and place it on the light wooden table.", "scene_description": "A light brown wooden table against the wall holds a white plate with black and gray items and an orange screwdriver. To the right, a window sill has a blue bowl with a yellow ball, a white cup and hats, with a white heater below the sill. A brown leather sofa is left of the wooden table, and a robotic arm is on a dark purple-lit table to the right.", "global_instruction_dense": "The right robotic arm moves toward the yellow ball in the blue bowl on the window sill, grasps the ball, lifts it, moves left over the light brown wooden table, lowers the ball, and releases it onto the table next to the white plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 269, "tasks": ["place ball"], "length": 367, "global_instruction": "Place the yellow tennis ball into the blue window sill bowl, then place the black fabric object from the plate onto the side table.", "scene_description": "A light wooden side table is next to a brown couch. On the table, a white plate holds a black fabric object, alongside a yellow tennis ball and an orange-handled screwdriver. A window sill above the table has a blue bowl and a white cup, with a robotic work station on a dark table to the right.", "global_instruction_dense": "The right robotic arm moves to grasp the yellow tennis ball on the side table, lifts it, moves it to the blue bowl on the window sill and releases it into the bowl, then returns to the side table, grasps the black fabric object on the white plate, moves it off the plate onto the side table surface and releases it.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 270, "tasks": ["place ball"], "length": 243, "global_instruction": "Place the yellow ball from the blue window sill bowl onto the white plate on the wooden side table.", "scene_description": "A brown sofa is adjacent to a light wooden side table holding a white round plate, an orange screwdriver, and a black cloth. The window sill behind the table has a blue bowl with a yellow ball, a white cup, and stacked hats. A robotic arm with purple lights is on a dark table to the right.", "global_instruction_dense": "The right robotic arm moves toward the blue bowl on the window sill, grasps the yellow ball inside the bowl, lifts the ball, moves it over the white plate on the wooden side table, lowers the ball, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 271, "tasks": ["place ball"], "length": 513, "global_instruction": "Pull out the cabinet drawer, move the white mug onto the drawer, then place the yellow ball from the windowsill bowl into the mug.", "scene_description": "A light brown wooden cabinet sits next to a brown leather couch. The cabinet has a white round plate and a white mug on its top surface, with black and gray gloves resting on its lower edge. A dark blue bowl holding a yellow ball sits on the windowsill above a white radiator, with a red and blue cap on the far right of the sill, and a white robotic arm is positioned to the right of the cabinet.", "global_instruction_dense": "The right robotic arm extends toward the light brown cabinet, pulls out its sliding wooden drawer, then grasps the white mug from the cabinet's top surface, moves it and places it onto the extended drawer, next reaches toward the dark blue bowl on the windowsill, grasps the yellow ball inside the bowl, lifts it, moves it over the white mug on the drawer, and releases the ball into the mug.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 272, "tasks": ["place ball"], "length": 255, "global_instruction": "Place the yellow ball onto the white round plate on the light wooden side table.", "scene_description": "A brown sofa is on the left, a light wooden side table with a white round plate on top sits next to the sofa, a blue bowl with white items rests on the windowsill in the background, and a robotic arm base with purple lights is on the black table to the right.", "global_instruction_dense": "The right robotic arm reaches to the blue bowl on the windowsill to grasp the yellow ball, moves the ball leftward above the white plate on the wooden side table, then lowers and releases the yellow ball onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 273, "tasks": ["place ball"], "length": 231, "global_instruction": "Pick the yellow ball from the blue windowsill bowl and place it on the white saucer next to the white cup on the wooden side table.", "scene_description": "A brown sofa sits on the left next to a wooden side table holding a white cup on a white saucer, a small white object, and two black items on the table edge. A blue bowl with a yellow ball is on the windowsill to the right of the table, a white radiator is below the windowsill, and a white robotic arm is on a black worktable at the far right.", "global_instruction_dense": "The right robotic gripper reaches toward the yellow ball in the blue bowl on the windowsill, grasps the ball, lifts it, moves it left over the wooden side table, lowers it onto the white saucer beside the white cup, and releases the ball.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 274, "tasks": ["place ball"], "length": 169, "global_instruction": "Move the yellow ball from the dark blue bowl to the adjacent small wooden side table", "scene_description": "A light wooden cabinet holds a dark blue bowl with a yellow ball resting on a white plate on its top surface. Adjacent to the cabinet is a small light wooden side table holding a white bottle with orange accents and a purple cap. A brown couch is to the left of the cabinet, a robotic work station with purple lights is to the right, and a window with hats on its sill is in the background.", "global_instruction_dense": "The right robotic arm moves from off-screen toward the dark blue bowl on the wooden cabinet, grasps the yellow ball inside the bowl, lifts it, moves it horizontally over the adjacent small wooden side table, lowers the ball, and releases it onto the table next to the bottle.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 275, "tasks": ["place ball"], "length": 165, "global_instruction": "Pick the yellow ball from the dark blue bowl and place it on the adjacent small wooden shelf.", "scene_description": "A light wooden side table holds a dark blue bowl with a yellow ball inside, a white mug, and a small extended wooden shelf. A brown sofa is to the left of the table, a window with a red bottle on its sill is in the background, and gloves hang from the table edge.", "global_instruction_dense": "The right robotic gripper moves toward the yellow ball in the dark blue bowl, lowers into the bowl to grasp the ball, lifts the ball out of the bowl, moves it over the adjacent small wooden shelf, lowers it, and releases it onto the shelf.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 276, "tasks": ["place ball"], "length": 133, "global_instruction": "Place the yellow ball from the small shelf onto the white plate on the wooden cabinet.", "scene_description": "A light brown wooden cabinet holds a white round plate and a white ceramic mug. To the cabinet's right is a small wooden shelf with a dark blue bowl (holding a white square object) and a yellow ball. A brown sofa is left of the cabinet, two black socks rest on the cabinet's lower edge, a robotic arm sits on a right workbench, and a window with a red bottle on its sill is in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow ball on the small shelf next to the dark blue bowl, grasps the ball with its gripper, lifts it, moves it left over the white plate on the wooden cabinet, and releases the ball onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 277, "tasks": ["place ball"], "length": 642, "global_instruction": "Place the black object from the heater and the yellow object from the window sill bowl onto the white plate on the wooden side table.", "scene_description": "A light wooden side table sits next to a brown couch, with a white plate holding an orange pill bottle with a dark cap on the table, a small white rectangular object and white paper beside the plate, a black object rests on the white heater below the window, a blue bowl and red hat are placed on the window sill above the heater, and a robotic arm base is on the dark table to the right.", "global_instruction_dense": "The right robotic arm moves toward the black object on the heater, grasps and lifts it, moves it to the white plate on the side table and places it next to the pill bottle, then moves to the blue bowl on the window sill, grasps the yellow object inside, lifts and moves it to the white plate and places it on the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 278, "tasks": ["place ball"], "length": 419, "global_instruction": "Place the bright yellow tennis ball on the cabinet into the adjacent black tray on the same cabinet.", "scene_description": "A light brown wooden cabinet is against a white wall, with a black rectangular tray on its left and a bright yellow tennis ball on its right. A brown sofa is to the left of the cabinet, and a projection screen with a spray bottle graphic is to the right of the cabinet.", "global_instruction_dense": "The robotic gripper enters the frame from above, moves down toward the yellow tennis ball on the cabinet, grasps the ball, lifts and moves it left over the black tray, then lowers and releases the ball into the tray.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 279, "tasks": ["place ball"], "length": 706, "global_instruction": "Place the yellow ball into the open cabinet drawer, then place the blue funnel into the lower cabinet drawer and close the drawer.", "scene_description": "A white three-drawer storage cabinet sits on a wooden table, with a yellow spherical ball on its top surface, its topmost drawer open and empty, and a blue funnel-shaped object on the table to the right of the cabinet. A whiteboard with handwritten text is positioned to the left of the cabinet, with robotic arms around the table and an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves to grasp the yellow ball on top of the white storage cabinet, carries the ball to the open top drawer and releases it inside, then moves to grasp the blue funnel-shaped object on the table, opens the closed middle cabinet drawer, places the blue object inside the middle drawer, and closes the middle drawer.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 280, "tasks": ["place ball"], "length": 195, "global_instruction": "Take the yellow ball from the green bowl and place it on the wooden table next to the bowl.", "scene_description": "A wooden table holds a transparent jar of colorful building blocks, a blue and white tool with an orange roller, a small blue block, a black round lid, a gray two-handled pot, and a green bowl with a yellow ball inside. A stationary white robotic arm is at the far end of the table, a clear plastic bin of toys sits on a cardboard box to the left of the table, and a desk lamp is positioned near the far end of the table.", "global_instruction_dense": "The right robotic arm moves toward the green bowl on the right side of the wooden table, grasps the yellow ball inside the bowl, lifts the ball, moves it slightly left, places it on the table surface next to the green bowl, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 281, "tasks": ["place ball"], "length": 277, "global_instruction": "Move the red ball near the black landfill bin to a position next to the tall metallic bottle on the desk.", "scene_description": "A light wooden office desk holds a small red ball near a black 'LANDFILL ONLY' bin on its right side, plus a tall metallic bottle at its center, a green plastic bottle, a small green cup, a red circular ring, a white office phone, a champagne glass with yellow liquid, a clear plastic container, papers, and a pink pencil, with office chairs, monitors, and whiteboards in the background.", "global_instruction_dense": "The right robotic arm enters the frame from the top right, moves toward the red ball near the black LANDFILL ONLY bin, grasps the red ball, lifts and carries it left across the desk, then lowers and releases it next to the tall metallic bottle at the center of the desk.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 282, "tasks": ["place ball"], "length": 227, "global_instruction": "Pick up the small red ball from the desk and place it into the black LANDFILL ONLY bin.", "scene_description": "A light wooden desk holds a small red ball, clear wine glass, pink pencil, black LANDFILL ONLY bin, green liquid bottle, small green cup, red circular ring and papers. Blue stacked trash bins are to the left of the desk, whiteboards and office workstations with monitors are in the background.", "global_instruction_dense": "The right robotic arm extends toward the small red ball on the desk, grasps it, lifts it, moves it over the black LANDFILL ONLY bin, and releases the ball into the bin.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 283, "tasks": ["place ball"], "length": 162, "global_instruction": "Place the brown round disc from its clear container into the left clear storage container on the table.", "scene_description": "A grey table holds a purple umbrella, black mug, scissors, clear containers, tape rolls, and decorative bows. A black office chair, wall-mounted TV, and orange bags are behind the table, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm enters from the top right, moves to the brown disc in its clear container, grasps the disc, lifts it, moves left over the target storage container, lowers the disc, and releases it into the storage container.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 284, "tasks": ["place ball"], "length": 249, "global_instruction": "Place the blue disk from the stacked clear plastic boxes into the clear tray on the table.", "scene_description": "A gray tabletop holds a purple umbrella, black mug atop a white tablet, stacked clear plastic boxes, two white tape rolls, scissors, a clear tray of small items, and colorful gift bows. A black office chair sits behind the table, orange bags are near a wooden door, and a TV is mounted on the wall.", "global_instruction_dense": "The right robotic gripper moves toward the blue disk on top of stacked clear plastic boxes, grasps the disk, lifts and moves it leftward over the clear tray on the table, then lowers and releases the disk into the tray.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 285, "tasks": ["place ball"], "length": 161, "global_instruction": "Move the clear plastic case containing the red disc to a new position on the grey table.", "scene_description": "A grey table holds a purple umbrella, black mug on a white notepad, clear plastic case with a red disc, two white tape reels, black tape dispenser, scissors, blue tape, decorative bows, transparent boxes, and orange items at the far end. A black mesh office chair, wall-mounted TV, and orange bags are behind the table, with a wooden door in the background, and no robotic arm is over the table initially.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, moves toward the clear plastic case holding a red disc on the grey table, grasps the case, lifts and shifts it slightly closer to the decorative bows on the table, then releases the case and begins to retract.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 286, "tasks": ["place ball"], "length": 210, "global_instruction": "Move the blue disc on the table to the right side near the red ribbon spool", "scene_description": "A gray table covered with a gray cloth holds a purple cloth, green scissors, white and red ribbon spools, decorative bows, a black cup, white sticker sheets, and a blue circular disc. A black office chair is behind the table, a TV is mounted on the left wall, orange bags are near the chair, and a door is in the background.", "global_instruction_dense": "The right robotic gripper extends toward the blue disc on the lower part of the gray table, grasps it, lifts it, moves it rightward across the table, and places it near the red ribbon spool on the table's right side.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 287, "tasks": ["place ball"], "length": 228, "global_instruction": "Pick up the small white ball from the table and place it into the canvas tote bag.", "scene_description": "A light wooden table holds a purple cylindrical object, a small white spherical ball, a white square wireless earbud case, a plastic bottle with a white cap, and a blue-and-white yogurt cup. A white canvas tote bag rests on a wooden chair behind the table, with a brown sofa, small side table, and stainless steel refrigerator in the room background.", "global_instruction_dense": "The left robotic gripper moves toward the small white ball on the wooden table, grasps it, lifts and carries it toward the white canvas tote bag behind the table, then releases the ball into the tote bag.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 288, "tasks": ["place ball"], "length": 378, "global_instruction": "Place the white baseball cap from the table into the brown paper bag.", "scene_description": "A light wooden table holds a brown paper bag at its front edge, a roll of white paper towels, an orange bottle with a separate green cap, and a white baseball cap, with a robotic system positioned to the right of the table.", "global_instruction_dense": "The left robotic arm reaches toward the white baseball cap on the rear of the table, grasps it, lifts it, moves it over the brown paper bag at the table edge, adjusts its position, and releases the cap into the bag.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 289, "tasks": ["place ball"], "length": 202, "global_instruction": "Place the green round disc on the table into the brown paper bag on the adjacent chair.", "scene_description": "A brown paper bag sits on a light wooden chair next to a light wooden table. On the table, there is a green round disc, an orange bottle with a green base, and a white paper towel roll. A robotic arm is positioned on the right side of the view.", "global_instruction_dense": "The right robotic arm moves toward the green round disc on the table, grasps the disc, lifts it, moves left over the brown paper bag, lowers the disc, releases it into the bag, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 290, "tasks": ["place ball"], "length": 353, "global_instruction": "Move the black baseball cap on the desk to a position closer to the computer monitor.", "scene_description": "A light wooden desk holds a black monitor on its left side, a white cylindrical holder with a gray handle tool next to the monitor, a dark pencil case, a white sheet of paper with two small red bottles, a small tube, a small bottle with a blue cap, and a black baseball cap near the right wall, with a robotic arm at the top right of the view.", "global_instruction_dense": "The right robotic arm moves down toward the black baseball cap near the right edge of the desk, grasps the cap with its gripper, lifts it, moves it left toward the computer monitor, lowers it, and releases it onto the desk surface closer to the monitor.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 291, "tasks": ["place ball"], "length": 339, "global_instruction": "Pick up the black baseball cap from the back of the desk and place it on the front area of the desk.", "scene_description": "A light wooden desk holds a black Dell monitor on the left, a black baseball cap at the back center, two red cylinders on a white cloth, a small turquoise bottle, a white-yellow box, a dark purple cloth, a dark blue dotted pouch, a small brown box, a dark hair scrunchie, and an orange plastic bag. A robotic arm is at the upper right of the scene.", "global_instruction_dense": "The right robotic arm moves downward toward the black baseball cap at the back of the desk, grasps the cap, lifts and flips it, moves it to the front left area of the desk, lowers it, and releases it onto the desk surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 292, "tasks": ["place ball"], "length": 378, "global_instruction": "Move the black baseball cap next to the monitor to the left side of the desk", "scene_description": "A light wooden desk holds a black Dell monitor on its left side, with a black baseball cap, red silicone pieces on a white cloth, a purple fabric, an orange plastic bag, a dark purple hair scrunchie, a white contact lens case, and a dark blue pouch arranged on its surface. A robotic arm mount is visible at the upper right edge of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the black baseball cap positioned next to the monitor, grasps it with its gripper, lifts the cap, carries it leftward across the desk, and releases it onto the left side of the desk near the dark blue pouch.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 293, "tasks": ["place ball"], "length": 299, "global_instruction": "Pick up the black baseball cap with red trim from the bed and place it back onto the bed surface.", "scene_description": "A bed with light blue bed sheets holds several baseball caps: a red cap, navy blue Nike cap, black cap with white trim, black cap with red accents, and plain black cap. A white robotic arm is positioned to the right of the bed, with a clothing rack in the background.", "global_instruction_dense": "The left robotic arm moves toward the black cap with red trim on the bed, grasps it with its gripper, lifts the cap upward, then lowers it and releases it back onto the bed.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 294, "tasks": ["place ball"], "length": 230, "global_instruction": "Pick up the solid red baseball cap on the bed and place it on top of the red and black baseball cap.", "scene_description": "A bed with light blue bedspread holds four baseball caps: a black cap, a red and black cap, a navy blue cap with white trim, and a solid red cap. A robotic arm is positioned above the bed, with a clothes rack holding hanging garments in the background.", "global_instruction_dense": "The left robotic gripper moves downward toward the solid red baseball cap on the light blue bed, closes to grasp the cap, lifts it upward, moves it over the red and black baseball cap, lowers it, releases the cap onto the red and black cap, then moves upward away from the bed.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 295, "tasks": ["place ball"], "length": 298, "global_instruction": "Pick up the black Nike baseball cap and place it on the stack of caps on the bed.", "scene_description": "A bed covered with a light blue bedspread holds three baseball caps: a navy cap with a white Nike logo at the lower left, a black Nike cap with white trim and red accents above it, and a red cap partially under the black cap. A white robotic arm is positioned on the right side of the frame, next to a clothing rack with hanging garments.", "global_instruction_dense": "The right robotic gripper moves down toward the black Nike baseball cap on the bed, grasps and adjusts its grip on the cap, lifts it, lowers it onto the pile of red and black caps, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 296, "tasks": ["place ball"], "length": 157, "global_instruction": "Pick up the plain black baseball cap from the bed and adjust its position.", "scene_description": "A wooden bed with light blue bedsheets holds multiple baseball caps (red, black with red logos, plain black) on its surface. A robotic arm is positioned at the right edge of the bed, with a clothing rack in the background.", "global_instruction_dense": "The left robotic arm moves down toward the plain black baseball cap on the bed, grasps it with its gripper, lifts it to adjust its position, then lowers it back onto the bed and releases it.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 297, "tasks": ["place ball"], "length": 199, "global_instruction": "Place the plastic-wrapped black disk onto the granite countertop next to the coiled white cable.", "scene_description": "Two transparent water bottles with blue caps and a coiled white cable are placed on a speckled granite countertop. A left and right robotic arm are positioned above the right side of the counter, with a bedroom area including a bed, wooden chair, plant, and desk visible in the background.", "global_instruction_dense": "The left robotic arm moves from its starting position above the right of the counter toward the left, carries the plastic-wrapped black disk to the space between the water bottles and white cable, lowers it onto the counter, adjusts its position, releases it, and moves back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 298, "tasks": ["place ball"], "length": 213, "global_instruction": "Pick up the yellow tennis ball on the table and place it into the dark beverage glass.", "scene_description": "A round black table holds a bright yellow tennis ball and a dark tall beverage glass with red labels, a robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm extends toward the yellow tennis ball on the black table, grasps the ball with its gripper, lifts it, moves it over the nearby dark beverage glass, and releases the ball into the glass.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 299, "tasks": ["place ball"], "length": 298, "global_instruction": "Place the yellow tennis ball into the dark cylindrical can on the table.", "scene_description": "A yellow tennis ball and a dark cylindrical can with red labels rest on a black round table, a white robotic arm base with blue lights is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves down toward the yellow tennis ball on the black table, grasps the ball with its gripper, lifts the ball, moves it over the dark cylindrical can, and releases the ball into the can.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 300, "tasks": ["place ball"], "length": 618, "global_instruction": "Hang the four dark baseball caps from the wire shelf onto the red wall hooks.", "scene_description": "A silver metal wire shelf holding four dark baseball caps stands to the left of a vertical metal pole fitted with three empty red hooks against a white wall, with a doorway in the background.", "global_instruction_dense": "The left robotic arm sequentially grasps each of the four dark baseball caps from the wire shelf, moves each cap to a red hook on the vertical metal pole, hangs the cap on the hook, and retracts after hanging the final cap.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 301, "tasks": ["place ball"], "length": 740, "global_instruction": "Place all three black baseball caps from the wall hooks onto the metal storage shelf.", "scene_description": "A metal storage shelf with a purple plastic basket on its lower tier is positioned in a hallway, with three black baseball caps hanging on wall-mounted hooks to the right of the shelf; a black chair and an open door are visible in the background.", "global_instruction_dense": "The left robotic arm grasps each of the three black baseball caps hanging on the wall hooks one at a time, lifts each cap off its hook, moves it over the metal storage shelf, and releases it to deposit the cap on the shelf.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 302, "tasks": ["place ball"], "length": 302, "global_instruction": "Place the metal blender ball into the clear Blender Bottle on the kitchen counter.", "scene_description": "A kitchen counter holds a clear Blender Bottle with white powder at its bottom, two black lids left of the bottle, a black whey protein bag with red base behind the bottle, a silver toaster oven and stainless steel kettle in the background, with a stationary white robotic arm on the right of the frame and a second robotic arm positioned above the toaster oven.", "global_instruction_dense": "The left robotic arm moves down toward the kitchen counter, grasps the metal blender ball, lifts it, moves it over the mouth of the clear Blender Bottle, and releases the ball into the bottle.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 303, "tasks": ["place ball"], "length": 301, "global_instruction": "Place the white circular disk on the table into the open cardboard box", "scene_description": "A light wooden table holds an open cardboard box, a white circular disk, an orange round pad, a dark blue bag, and small containers on its surface. A white left robotic arm is mounted to the left of the table above the box area.", "global_instruction_dense": "The left robotic arm moves toward the white circular disk on the table, grasps it with its gripper, lifts the disk, moves it over the open cardboard box, lowers it, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 304, "tasks": ["place ball"], "length": 202, "global_instruction": "Place the dark gray baseball cap onto the metal hat stand on the table", "scene_description": "A light wooden table is in the center, with a dark gray baseball cap, metal hat stand, orange disc, white lid, green bottle, beige jar, blue packet, purple container and gray organizer on its surface. A brown couch with clothes is to the right of the table, and a white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the dark gray baseball cap on the table, grasps the cap, lifts it, moves it over the metal hat stand, lowers the cap onto the stand, and releases it so the cap hangs on the stand.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 305, "tasks": ["place ball"], "length": 327, "global_instruction": "Place the red baseball cap onto the red helmet on the chair, then place the black baseball cap on the table surface.", "scene_description": "A light beige table holds a red baseball cap stacked on a black baseball cap, a clear glass dish, a green bottle, a white container, a blue cloth, a silver can, a white lid, and an orange disc. A red helmet rests on the adjacent wooden chair, a white robotic arm is left of the table, and a brown couch with folded clothes is to the right of the table.", "global_instruction_dense": "The left robotic arm grasps the red baseball cap stacked on the black cap on the table, lifts it, moves it over the red helmet on the adjacent chair, places it onto the helmet, then grasps the black baseball cap on the table and places it back onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 306, "tasks": ["place ball"], "length": 470, "global_instruction": "Place the light green tennis ball into the upright cylindrical can on the kitchen counter.", "scene_description": "A speckled gray kitchen counter holds a horizontally lying red-labeled cylindrical can, a light green tennis ball, a black circular lid, glass bottles, a metal measuring cup, a glass teapot, and a white tray on the right. A black stovetop adjacent to the counter has a white rice cooker and a dark pot with orange handles, with a robotic arm positioned above the stovetop.", "global_instruction_dense": "The right robotic arm first grasps the horizontally lying cylindrical can, rotates it to stand upright on the counter, then grasps the light green tennis ball, lifts it, moves it over the open top of the upright can, and lowers it into the can.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 307, "tasks": ["place ball"], "length": 1190, "global_instruction": "Place the green tennis ball into the dark glass bottle with red liquid, then seal the bottle with its black lid.", "scene_description": "A gray kitchen counter holds a dark glass bottle filled with red liquid at its center, multiple dark green glass bottles lined against the back wall, a stainless steel measuring cup, a glass teapot with yellow liquid, a white plastic tray on the right edge of the counter, a green tennis ball adjacent to the tray, and a small black circular bottle lid to the left of the red liquid bottle. A black stove with a white rice cooker and cooking pots is positioned to the left of the counter, and a white robotic arm is positioned above the counter area.", "global_instruction_dense": "The left robotic arm moves toward the green tennis ball on the right side of the gray kitchen counter, grasps the ball, lifts it, moves it over the opening of the dark glass bottle with red liquid, releases the ball to drop it into the bottle, then moves to the black circular bottle lid on the left of the bottle, grasps the lid, moves it to the bottle's opening, and places it on the bottle to seal the container.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 308, "tasks": ["place ball"], "length": 156, "global_instruction": "Place the small black round disc onto the blue-rimmed small white cup", "scene_description": "A white table holds a red cloth, white bottle, blue-rimmed small white cup, green eraser, black spoon, small black round disc, writing whiteboard, black container with pink item, and clear glass bulb. Two robotic arms are positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the small black disc on the table, grasps and lifts it, moves it over the blue-rimmed small white cup, lowers it to place on top of the cup, then releases the disc.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 309, "tasks": ["place ball"], "length": 100, "global_instruction": "Grasp the teal disc and reposition it on the desk surface.", "scene_description": "A light brown office desk holds a black monitor, black keyboard, white cycling helmet, small white rectangular box, and purple paper. A white robotic arm is positioned to the left of the desk, with a diagram-marked whiteboard in the background.", "global_instruction_dense": "The left robotic arm moves down toward the teal disc on the desk, grasps it, lifts and moves it to a new position, then places it back onto the desk surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 310, "tasks": ["place ball"], "length": 202, "global_instruction": "Pick the purple ball from the checkered basket and place it into the black tray.", "scene_description": "A white tabletop holds a light blue desktop device on the left, a clear water bottle, a red-and-yellow checkered basket with toy fruits including a purple ball in the center, a black tray with a green pear-shaped toy to the basket's right, a small toy hamburger behind the basket, and a white robotic arm on the table's right side, with lab equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball in the checkered basket on the table, grasps the purple ball, lifts it out of the basket, moves it rightward over the black tray, lowers it, and releases it onto the tray next to the green pear toy.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 311, "tasks": ["place ball"], "length": 138, "global_instruction": "Place the purple ball from the red checkered basket onto the adjacent black plate", "scene_description": "A light blue countertop oven sits on the left of a white table, next to a clear plastic water bottle. A red checkered basket holding colorful toy fruits including a purple ball is in the table center, with a black plate holding a green toy to its right, and a robotic arm on the far right of the table.", "global_instruction_dense": "The right robotic arm moves down toward the red checkered basket on the white table, grasps the purple ball inside the basket, lifts it, moves it rightward over the black plate, lowers it, and releases it onto the plate next to the green toy.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 312, "tasks": ["place ball"], "length": 218, "global_instruction": "Place the green toy ball on the grey plate into the red grid patterned paper basket.", "scene_description": "On a white tabletop, there is a light blue toy coffee maker, blue teapot, blue lidded pot, small blue dish, grey plate holding purple, green, and orange toy balls, black tray with two toy balls, red grid patterned paper basket, and a small toy burger, with a robotic manipulator positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the green toy ball on the grey plate, grasps the ball with its gripper, lifts the ball, moves it over the red grid patterned paper basket, and releases the ball into the basket.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 313, "tasks": ["place ball"], "length": 234, "global_instruction": "Place the purple ball from the gray plate into the black tray", "scene_description": "A white table holds a gray plate with a purple ball and an orange ball, a black tray with two orange balls and a red-green ball, a blue teapot, a blue lidded pot, a small blue lid, a red woven basket with toy food, a small burger toy, a light blue toy appliance, and a brown paper box. Robotic arms are positioned to the right of the table.", "global_instruction_dense": "The left robotic gripper moves toward the purple ball on the gray plate, grasps it, lifts it, moves it over the black tray, and releases the purple ball into the tray.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 314, "tasks": ["place ball"], "length": 245, "global_instruction": "Place the orange ball from the teal mug into the gingham basket on the table.", "scene_description": "A woven basket with red gingham trim filled with plush toys sits centered on a white table. A toy hamburger is left of the basket, with a light blue toy oven, small blue teapot, blue dishes, and teal mug arranged at the rear of the table. A robotic arm is positioned above the right rear of the table.", "global_instruction_dense": "The right robotic arm moves toward the teal mug at the back of the table, grasps the orange ball inside the mug, lifts the ball, moves it above the gingham basket, lowers the ball, releases it into the basket, then lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 315, "tasks": ["place ball"], "length": 308, "global_instruction": "Pick up the red round ball and place it into the orange cup on the table", "scene_description": "A white table in a room with light gray left curtains holds: a teal pot, small teal lid, stacked small multicolored items, black pot, red round ball, orange cup, blue cup, green cup, fake hamburger, and a right-edge black tray. A robotic arm is above the table's upper right.", "global_instruction_dense": "The right robotic arm moves downward toward the table, grasps the red round ball, lifts it, moves it over the orange cup, releases the ball into the cup, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 316, "tasks": ["place ball"], "length": 269, "global_instruction": "Place the red ball from the black pot onto the gray plate.", "scene_description": "A white table holds a black small pot with a red ball inside, a toy burger on a blue small plate, multiple small container lids, a red basket with toys, and a gray plate with a colorful cup; the robotic arm is positioned above the top right of the table initially.", "global_instruction_dense": "The right robotic gripper moves from its initial position above the table to the black pot, grasps the red ball inside the pot, lifts it, moves it over the gray plate, and releases the red ball onto the gray plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 317, "tasks": ["place ball"], "length": 495, "global_instruction": "Grasp a colorful toy ball from the red basket, lift it, then place it back into the basket.", "scene_description": "A red basket with a yellow handle holding colorful toy balls rests on a white table, with a white and black robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves left toward the red basket on the white table, lowers into the basket to grasp a colorful toy ball, lifts the ball above the basket, then lowers and releases the ball back into the red basket.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 318, "tasks": ["place ball"], "length": 473, "global_instruction": "Pick a yellow ball from the red basket and place it back into the basket.", "scene_description": "A red basket filled with colorful balls rests on a white table, with a robotic arm positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves left toward the red basket on the white table, grasps a yellow ball from inside the basket, lifts the ball and moves it away from the basket, then moves the ball back toward the basket and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 319, "tasks": ["place ball"], "length": 349, "global_instruction": "Place the green foam ball into the black mug and the red foam ball into the blue pot.", "scene_description": "A white table holds a yellow checkered basket at its far end, along with green and red foam balls, a blue teapot, blue pot, black mug, small frying pan, black tray, toy burger, and stacked colorful cups on its surface.", "global_instruction_dense": "The right robotic gripper first moves to grasp the green foam ball on the table, lifts it and places it into the black mug, then moves to grasp the red foam ball, lifts it and places it into the blue pot, then moves away from the pot.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 320, "tasks": ["place ball"], "length": 270, "global_instruction": "Place the green ball from the white bowl onto the empty white plate", "scene_description": "A gray table holds a white bowl with green, pink, yellow, orange balls, an empty white plate, and a clear water bottle. Two blue chairs are beside the table, a robotic arm is at the table's right, with storage cabinets and workbenches in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white bowl, lowers into it to grasp the green ball, lifts and moves the ball over the empty white plate, releases the ball onto the plate, then lifts away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 321, "tasks": ["place ball"], "length": 204, "global_instruction": "Place the red ball from the white bowl into the front white plate with other colored balls.", "scene_description": "A gray table holds a white bowl with red and yellow balls, a front white plate with pink and green balls, and a clear water bottle. Two blue chairs sit left of the table, a white cabinet is in the left background, and a robotic arm is in the right background.", "global_instruction_dense": "The right robotic arm moves from the background toward the white bowl on the gray table, grasps the red ball inside the bowl, lifts the ball, moves it over the front white plate with pink and green balls, releases the ball into the plate, then moves back to a position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 322, "tasks": ["place ball"], "length": 289, "global_instruction": "Place the yellow ball from the white bowl onto the white plate holding other colored balls.", "scene_description": "A gray table holds a white bowl with a yellow ball inside, a clear plastic water bottle, a small blue item, and a clear cup. A white plate with pink, orange, and green balls sits at the table's foreground. Two blue chairs are to the table's left, with storage cabinets behind them and workbenches with equipment in the background.", "global_instruction_dense": "The right robotic arm moves from the background over the gray table, lowers into the white bowl to grasp the yellow ball inside, lifts the yellow ball, moves it over the foreground white plate with pink, orange, and green balls, releases the yellow ball onto the plate, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 323, "tasks": ["place ball"], "length": 239, "global_instruction": "Place the green ball from the white plate into the white bowl holding a pink ball.", "scene_description": "A gray table holds a white bowl with a pink ball, a white plate with green, yellow, and red balls, and a clear plastic water bottle. Two blue chairs are to the left of the table, a robotic arm is at the right of the table, with shelves and workbenches in the background.", "global_instruction_dense": "The right robotic arm moves toward the green ball on the white plate, grasps the green ball with its gripper, lifts the ball, moves it over the white bowl containing the pink ball, and releases the green ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 324, "tasks": ["place ball"], "length": 346, "global_instruction": "Place yellow and red balls into the white bowl on the grey table.", "scene_description": "A grey table is in the center, with a blue chair to its left. On the table, there is a clear plastic water bottle, a white bowl holding a green ball and a pink ball, a small blue box, a white sheet of paper, and a clear plastic cup. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves from its starting position on the right toward the table, grasps a yellow ball, lowers it into the white bowl and releases it, then grasps a red ball, lowers it into the bowl and releases it, adding two balls to the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 325, "tasks": ["place ball"], "length": 636, "global_instruction": "Take each colored ball from the white bowl and place them onto the grey tabletop.", "scene_description": "A grey table holds a white bowl with four colorful balls (green, pink, yellow, orange), a clear water bottle, a small blue box, a white paper slip, and a clear plastic cup. A blue chair is to the left of the table, with work tables and equipment in the background.", "global_instruction_dense": "The right robotic gripper sequentially approaches the white bowl on the grey table, grasps each of the four colored balls (pink, green, yellow, orange) from inside the bowl, lifts each ball, moves it to the adjacent table surface, releases it, and finally moves away from the now empty bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 326, "tasks": ["place ball"], "length": 247, "global_instruction": "Place the orange ball into the white bowl on the grey table.", "scene_description": "A grey table holds a white bowl near its right side, a clear plastic water bottle left of the bowl, a small blue box, a white sheet of paper, and a clear plastic cup at the far end of the table, with a blue chair to the left of the table and a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper moves down toward the table, grasps an orange ball, moves it over the white bowl on the grey table, lowers the ball into the bowl, releases it, then lifts its gripper away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 327, "tasks": ["place ball"], "length": 219, "global_instruction": "Place a yellow ball into the white bowl containing an orange ball on the table.", "scene_description": "A gray table holds a white bowl with an orange ball inside, a clear water bottle, a small white paper, a small blue rectangular object, and a clear plastic cup with residual liquid. A blue office chair is to the left of the table, with shelves of boxes, a distant red robotic arm, and work desks with equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the gray table, lowers while grasping a yellow ball above the white bowl, releases the yellow ball into the bowl next to the orange ball, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 328, "tasks": ["place ball"], "length": 289, "global_instruction": "Remove the yellow and orange balls from the white bowl and place them on the grey tabletop.", "scene_description": "A grey table holds a white bowl containing a yellow ball and an orange ball, a clear plastic water bottle, a small blue box, and a clear plastic cup. A blue chair is to the left of the table, with workbenches and a robotic arm in the background.", "global_instruction_dense": "The right robotic arm moves toward the white bowl on the table, grasps the yellow ball, lifts and places it on the table, then returns to the bowl, grasps the orange ball, lifts and places it on the table, before moving away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 329, "tasks": ["place ball"], "length": 310, "global_instruction": "Take the orange and yellow balls from the white bowl and place them on the grey table.", "scene_description": "A grey table holds a white bowl with an orange ball and a yellow ball, a clear water bottle with a blue label, a beige tray of utensils, a small blue box, a white napkin, and a clear plastic cup. A blue office chair sits to the left of the table, and a robotic arm is positioned on the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the white bowl on the grey table, grasps the orange ball inside the bowl, lifts and places it on the table, then returns to the bowl, grasps the yellow ball, lifts and places it on the table before moving away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 330, "tasks": ["place ball"], "length": 194, "global_instruction": "Place the yellow ball into the white bowl on the gray table", "scene_description": "A gray table holds a clear water bottle, white napkin, small blue box, clear plastic cup, beige cutlery tray, and white bowl. A blue chair is left of the table, and a robotic arm is positioned on the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the yellow ball on the table, grasps it with its gripper, lifts the ball, moves it over the white bowl, and releases the ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 331, "tasks": ["place ball"], "length": 277, "global_instruction": "Place the red ball on the table into the white bowl", "scene_description": "A gray table holds a clear plastic water bottle, a white sheet of paper, a small blue box, a clear plastic cup, a beige tray with black utensils, and a white bowl with a yellow ball inside. A blue chair is at the left of the table, and a robotic arm is at the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the red ball on the gray table, grasps it, lifts and moves it over the white bowl, releases it into the bowl, then adjusts the ball's position in the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 332, "tasks": ["place ball"], "length": 254, "global_instruction": "Place the orange ball into the white bowl on the gray table", "scene_description": "A gray table holds a clear plastic water bottle, a beige utensil tray, and a white bowl with a yellow ball inside. A blue chair sits beside the table, and a robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves downward to grasp an orange ball, lifts it, moves it over the white bowl containing a yellow ball, releases the orange ball into the bowl, then lifts away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 333, "tasks": ["place ball"], "length": 381, "global_instruction": "Place green and pink balls into the white bowl on the gray table", "scene_description": "A gray table holds a clear plastic water bottle, a white sheet of paper, a small blue box, a clear plastic cup, a beige tray of utensils, and a white bowl with an orange and a yellow ball inside. A blue chair is positioned to the left of the table, with shelves and work surfaces in the background.", "global_instruction_dense": "The right robotic arm grasps a green ball, moves over the white bowl and releases the green ball into it, then grasps a pink ball, moves over the white bowl and releases the pink ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 334, "tasks": ["place ball"], "length": 475, "global_instruction": "Place the colored balls from the white bowl onto the gray table.", "scene_description": "A gray table holds a white bowl with four colored balls (orange, green, yellow, pink), a beige utensil tray, a clear water bottle, a small blue box, a white sheet of paper, and a clear plastic cup. A blue chair is to the left of the table, with shelving and workstations in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white bowl on the table, grasps an orange ball, lifts it, places it on the table surface, then returns to the bowl, grasps a green ball, lifts it, and places it on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 335, "tasks": ["place ball"], "length": 327, "global_instruction": "Place a red ball into the white bowl on the gray table.", "scene_description": "A gray table holds a clear plastic water bottle, a white sheet of paper, a small blue box, a clear plastic cup, a beige tray of utensils, and a white bowl with a yellow ball. A blue chair sits to the left of the table, with shelves and work equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the beige tray on the table, grasps a red ball, moves to the white bowl, and releases the red ball into the bowl next to the existing yellow ball.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 336, "tasks": ["place ball"], "length": 347, "global_instruction": "Place green, yellow, and purple balls into the white bowl on the gray tabletop.", "scene_description": "A gray table holds a white bowl with an orange ball, a beige utensil tray, a clear plastic water bottle, a small blue box, a white paper slip, and a clear plastic cup, with a blue chair to the left of the table and a robotic arm above the table's right side.", "global_instruction_dense": "The right robotic arm moves to retrieve a green ball, drops it into the white bowl, then retrieves a yellow ball and drops it into the bowl, next retrieves a purple ball and drops it into the bowl, before moving back to rest above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 337, "tasks": ["place ball"], "length": 390, "global_instruction": "Place the colorful balls from the white bowl onto the gray table.", "scene_description": "A gray table holds a clear water bottle, a white utensil tray, a transparent plastic cup, a small blue box, and a white bowl with four colorful balls (green, pink, orange, yellow). A blue chair sits left of the table, with lab workstations in the background.", "global_instruction_dense": "The right robotic arm moves toward the white bowl on the gray table, grasps the green ball inside, lifts and places it on the table, returns to grasp the pink ball inside the bowl, lifts and places it on the table, then moves away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 338, "tasks": ["place ball"], "length": 399, "global_instruction": "Place the orange and yellow balls from the white table bowl into the front white receptacle", "scene_description": "A gray table holds a white bowl with an orange ball and a yellow ball, a clear plastic water bottle, a beige utensil tray, a clear plastic cup, a small blue box, and paper sheets. A blue chair is to the left of the table, with lab shelves and workstations in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white bowl on the gray table, grasps the orange ball, lifts and moves it to the front white receptacle to release it, returns to the bowl to grasp the yellow ball, lifts and moves it to the front receptacle to release it, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 339, "tasks": ["place ball"], "length": 508, "global_instruction": "Place the red, green, and yellow balls into the white bowl on the gray table.", "scene_description": "A gray table holds an empty white bowl, a clear plastic water bottle, a small blue box, a clear plastic cup, and a beige tray with utensils. A blue chair is to the left of the table, and a white robotic arm is positioned to the right of the table. Background includes shelves, a red robotic arm, and desks with papers.", "global_instruction_dense": "The right robotic arm grasps a red ball, places it into the white bowl, then grasps a green ball, places it into the bowl, then grasps a yellow ball, places it into the bowl, and retracts after completing the task.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 340, "tasks": ["place ball"], "length": 218, "global_instruction": "Place the purple ball into the white bowl containing colored balls on the gray table.", "scene_description": "A gray table holds a white bowl with green, yellow, and orange balls, a clear plastic water bottle, a beige utensil tray, a clear plastic cup, a small blue box, and a white sheet of paper. A blue chair is to the left of the table, with lab equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps it, lifts it, transports it over the white bowl holding green, yellow, and orange balls, and releases the purple ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 341, "tasks": ["place ball"], "length": 628, "global_instruction": "Take all colored balls out of the white bowl and place them on the gray table.", "scene_description": "A gray table holds a white bowl with four colored balls (pink, green, yellow, orange), a clear plastic water bottle, a beige utensil tray, a small blue box, and a clear plastic cup. A blue chair is to the left of the table, with workbenches and shelves in the background.", "global_instruction_dense": "The right robotic arm moves toward the white bowl, grasps each colored ball one by one, lifts each ball out of the bowl, places each ball on the gray table, then moves away from the now empty bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 342, "tasks": ["place ball"], "length": 566, "global_instruction": "Place all colored balls from the white plate into the empty white bowl on the table.", "scene_description": "A gray table holds a clear plastic water bottle, a small blue box, a sheet of white paper, a clear plastic cup, a beige tray of utensils, an empty white bowl, and a white plate with four colored balls near the edge. A blue chair sits adjacent to the table, with workbenches and lab equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the plate of colored balls, grasps each ball individually, lifts each ball, moves it over the empty white bowl, releases the ball into the bowl, and returns to the plate until all balls are contained in the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 343, "tasks": ["place ball"], "length": 198, "global_instruction": "Pick the blue ball from the white bowl and place it onto the plate with the pink object.", "scene_description": "A gray table holds a white bowl with a blue and yellow ball, a beige utensil tray, a clear water bottle, a small blue box, a clear plastic cup, a white paper slip, and a plate with a pink object at the table front. A blue chair sits to the left of the table, and a robotic arm is positioned at the upper right of the scene, with lab shelves and equipment in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white bowl on the gray table, grasps the blue ball inside the bowl, lifts the ball, moves it over the plate with the pink object at the front of the table, and releases the ball onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 344, "tasks": ["place ball"], "length": 183, "global_instruction": "Place the green ball into the white bowl containing yellow and pink balls", "scene_description": "A grey table holds a clear plastic water bottle, white sheet of paper, small blue box, clear plastic cup, light beige utensil tray, a white bowl with a yellow ball and a pink ball, and a foreground white plate holding a green ball. A blue office chair is left of the table, a robotic arm is right of the table.", "global_instruction_dense": "The right robotic arm moves downward to grasp the green ball on the foreground white plate, lifts the green ball, moves it over the white bowl holding yellow and pink balls, then releases the green ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 345, "tasks": ["place ball"], "length": 237, "global_instruction": "Pick the green ball from the white bowl and place it into the empty white plate on the table", "scene_description": "A grey table holds a clear water bottle, a white sheet of paper, a small blue rectangular box, a clear plastic cup, a beige utensil tray, a white bowl with green, yellow, and pink balls, and an empty white foreground plate; a blue chair is to the left of the table, with workshop equipment in the background.", "global_instruction_dense": "The right robotic gripper moves into the frame toward the white bowl with colorful balls, grasps the green ball inside the bowl, lifts it, moves it over the empty white foreground plate, releases the green ball into the plate, then lifts upward away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 346, "tasks": ["place ball"], "length": 309, "global_instruction": "Place the yellow and pink balls from the white bowl onto the white plate at the bottom of the gray table.", "scene_description": "A gray table holds a white bowl with yellow and pink balls, a beige cutlery tray, a small blue box, a plastic cup, a white paper, and a white plate with a green ball at the table's bottom. A blue chair is to the left of the table, and a robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the white bowl on the gray table, grasps the yellow ball inside the bowl, transports it to the white plate at the bottom of the table and releases it, then returns to the bowl, grasps the pink ball, transports it to the plate and releases it, before moving away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 347, "tasks": ["place ball"], "length": 426, "global_instruction": "Place the colored balls from the front white plate into the farther white bowl on the table.", "scene_description": "A gray table holds a white bowl, a front white plate with a green ball, a beige utensil tray, a clear plastic cup, and a small blue box. A blue chair is left of the table, and a white robotic arm is above the table's right side.", "global_instruction_dense": "The right robotic gripper sequentially picks a green ball, a yellow ball, and a pink ball from the front white plate, and places each ball into the farther white bowl on the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 348, "tasks": ["place ball"], "length": 129, "global_instruction": "Place the purple ball from the black grill pan into the black pot", "scene_description": "A white table holds a light blue rectangular device with a black power cord on its left, an orange toy, blue cup, dark green pan, small stacked colorful toys, black pot, toy burger on a blue plate, and a black grill pan holding a purple ball on its right; a grey wall and black tripod are in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the black grill pan, grasps it, lifts it, moves it over the black pot, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 349, "tasks": ["place ball"], "length": 135, "global_instruction": "Take the red ball from the light blue appliance and place it into the teal cup", "scene_description": "A light blue countertop appliance with a power cord, a teal cup, a dark blue lid, a black pot, an orange toy fruit, a toy hamburger, and a black griddle pan are placed on a white table. The light blue appliance is on the left, other items are arranged to its right.", "global_instruction_dense": "The right robotic arm moves into the scene, approaches the light blue appliance, grasps the red ball inside it, lifts the ball out, moves it over the teal cup, and releases the ball into the cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 350, "tasks": ["place ball"], "length": 171, "global_instruction": "Take the purple ball from the black container and place it on the white tabletop.", "scene_description": "A light blue tabletop device with a black power cord, a teal container holding an orange item, a black container holding a purple ball, a small toy burger, and a black ridged tray are placed on a white table, with a sensor on a stand behind the table.", "global_instruction_dense": "The right robotic gripper enters from the right side of the frame, moves toward the black container, grasps the purple ball inside the container, lifts the ball, moves it leftward, and releases it onto the white table surface between the blue device and the black container.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 351, "tasks": ["place ball"], "length": 152, "global_instruction": "Pick up the purple ball and place it on the table near the black small pot.", "scene_description": "A light blue countertop appliance, blue kettle, teal pot, green ball, purple ball, black pot, grey plate, dark blue hoodie, burger toy, and black ridged tray are arranged on a white office table.", "global_instruction_dense": "The right robotic gripper moves toward the purple ball on the white table, grasps it, lifts it, moves it to the area near the black small pot, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 352, "tasks": ["place ball"], "length": 179, "global_instruction": "Place the green ball on the table into the black pot", "scene_description": "A white office table has a light blue ultrasonic cleaner on the left, with a teal kettle, teal pot, purple ball, green ball, small dark lid, multicolored small jar, black pot, small green jar, gray plate, dark blue hoodie, toy burger, and black grill pan arranged across it.", "global_instruction_dense": "The right robotic gripper moves toward the green ball on the table, grasps it, lifts it, moves it over the black pot, then releases it to drop the green ball into the black pot.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 353, "tasks": ["place ball"], "length": 303, "global_instruction": "Place the round silver disk on the table onto the black cup.", "scene_description": "A white table holds a light blue countertop appliance on its left end. Arranged left to right across the table are a blue cup, a small blue lid, a tiny red object, a black cup, a round silver disk, a small toy burger, and a black ridged tray. A tripod-mounted sensor stands behind the left side of the table, curtains are in the background, and a robotic arm base sits to the right of the table.", "global_instruction_dense": "The right robotic arm enters the frame from the background, moves toward the round silver disk on the table, grasps the disk with its gripper, lifts and moves the disk over the black cup, lowers and releases the disk onto the cup, then moves back upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 354, "tasks": ["place ball"], "length": 191, "global_instruction": "Place the circular metal disc into the blue pot on the table.", "scene_description": "A white table holds a light blue small appliance on the left, a blue pot, a blue pot lid, a black pot, a circular metal disc, a black ribbed tray and a tiny burger model, with a grey curtain in the background and a robotic base on the right.", "global_instruction_dense": "The right robotic arm moves down toward the circular metal disc on the white table, grasps it, lifts it, moves it over the blue pot, releases it into the pot, then lifts away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 355, "tasks": ["place ball"], "length": 133, "global_instruction": "Place the purple ball into the beige shallow plate on the table.", "scene_description": "A light blue small appliance, beige shallow plate, teal cup, dark blue small lid, black cup, purple ball, light green bowl, mini burger toy, and black ridged tray are arranged on a white table, with studio lighting equipment and curtains in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the white table, grasps it with the gripper, lifts it, moves it leftward over the beige shallow plate, lowers it, and releases the ball into the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 356, "tasks": ["place ball"], "length": 161, "global_instruction": "Place the purple round ball into the beige shallow plate on the table.", "scene_description": "A light blue toy oven is on the left of a white table. On the table, there are a teal cup, dark blue small lid, black cup, purple round ball, beige shallow plate, black grill tray, light green bowl, and small toy hamburger, with filming equipment in the background.", "global_instruction_dense": "The right robotic arm moves down toward the purple ball on the table, grasps it with its gripper, lifts it, moves it left over the beige shallow plate, lowers the ball, and releases it into the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 357, "tasks": ["place ball"], "length": 107, "global_instruction": "Place the purple ball into the beige shallow dish", "scene_description": "A light blue toy oven is on the left of a white table. The table holds a purple ball, a beige shallow dish, a teal cup, a dark blue small lid, a black cup, a light green bowl, a toy hamburger, a black ridged tray, small colorful toy pieces, and a robotic gripper above the table near the light green bowl.", "global_instruction_dense": "The right robotic gripper moves toward the purple ball on the table, grasps it, lifts it, moves it over the beige shallow dish, lowers it, and releases it into the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 358, "tasks": ["place ball"], "length": 158, "global_instruction": "Place the purple ball into the beige shallow bowl on the white table.", "scene_description": "A light blue countertop oven is on the left of a white table, with a teal cup, dark blue lid, purple ball, beige shallow bowl, black pot, light green bowl, small burger toy, and black ridged tray arranged on the table, and photography equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps it with its gripper, lifts the ball, moves it over the beige shallow bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 359, "tasks": ["place ball"], "length": 133, "global_instruction": "Pick up the purple ball on the table and place it into the beige shallow dish.", "scene_description": "A light blue toy oven, teal cup, small dark lidded pot, black cup, purple round ball, beige shallow dish, black ridged tray, light green bowl, and mini burger toy are placed on a white table, with gray curtains and studio equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps it with its gripper, lifts the ball, moves it over the beige shallow dish, lowers it, and releases it into the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 360, "tasks": ["place ball"], "length": 111, "global_instruction": "Place the purple ball into the beige shallow dish on the table", "scene_description": "A light blue toy oven sits at the left of a white table. Arranged on the table are a teal cup, lidded dark blue small pot, black cup, light green bowl, miniature hamburger toy, purple ball, beige shallow dish, and black ridged tray, with a grey curtain and camera stand in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps it, lifts it, moves it over the beige shallow dish, lowers it into the dish, and releases the ball.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 361, "tasks": ["place ball"], "length": 154, "global_instruction": "Place the purple ball into the beige shallow bowl on the table.", "scene_description": "A white table has a light blue small appliance on its left side, with a teal cup, dark blue small lid, black cup, purple ball, beige shallow bowl, black ridged tray, light green bowl, and toy burger arranged across the table, curtains and camera equipment are in the background.", "global_instruction_dense": "The right robotic gripper moves toward the purple ball beside the black cup, grasps the purple ball, lifts it, moves it over the beige shallow bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 362, "tasks": ["place ball"], "length": 139, "global_instruction": "Place the purple ball into the beige shallow dish on the table.", "scene_description": "A white table has a light blue small appliance on the left, with a teal cup, dark blue lid, black cup, beige shallow dish, purple round ball, black ridged tray, light green bowl, and mini hamburger toy arranged across it, with photography equipment and grey curtains in the background.", "global_instruction_dense": "The right robotic arm moves down toward the purple ball on the white table, grasps it with its gripper, lifts it, moves it over the beige shallow dish, and releases the ball into the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 363, "tasks": ["place ball"], "length": 129, "global_instruction": "Place the purple ball into the beige shallow bowl on the table.", "scene_description": "A white table holds a light blue toy oven on the left, a teal cup, a dark blue lidded pot, a purple ball, a beige shallow bowl, a black cup, a small colorful stacking toy, a light green bowl, a toy hamburger, and a black ridged tray from left to right, with camera equipment and curtains in the background.", "global_instruction_dense": "The right robotic gripper moves toward the purple ball on the white table, grasps the ball, lifts it, moves it over the beige shallow bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 364, "tasks": ["place ball"], "length": 152, "global_instruction": "Place the purple ball into the beige shallow dish on the white table.", "scene_description": "A white table holds a light blue toy oven on its left side, alongside a teal cup, small dark lid, black cup, purple ball, beige shallow dish, black ridged tray, light green bowl, and miniature toy hamburger arranged on its surface, with a robotic arm positioned above the table in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the purple ball on the white table, grasps it with its gripper, lifts it, moves it over the beige shallow dish, and releases it into the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 365, "tasks": ["place ball"], "length": 130, "global_instruction": "Place the purple ball into the beige shallow bowl on the table", "scene_description": "A white table has a light blue small appliance on its left side, with a purple ball, teal cup, small dark lid, black cup, beige shallow bowl, black grill plate, light green bowl, and toy burger placed on the table from left to right, with studio lighting equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball near the light blue appliance, grasps it with its gripper, lifts it, moves it over the beige shallow bowl, lowers it, and releases the ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 366, "tasks": ["place ball"], "length": 119, "global_instruction": "Place the purple ball into the beige shallow dish on the table.", "scene_description": "A light blue toy oven is on the left of a white table, with a teal cup, dark lid, purple ball, black cup, small colorful stack toy, light green bowl, mini burger toy, beige shallow dish, and black grill pan placed on the table.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps it with the gripper, lifts it, moves it over the beige shallow dish, lowers it, and releases it into the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 367, "tasks": ["place ball"], "length": 91, "global_instruction": "Place the purple ball on the table into the beige shallow bowl", "scene_description": "A light blue toy oven is on the left of a white table, with a blue cup, small dark blue pan, beige shallow bowl, black cup, light green bowl, small burger toy, purple ball, and black grill tray arranged on the table, and a robotic arm is at the right end of the table.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps it, lifts it, moves it left over the beige shallow bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 368, "tasks": ["place ball"], "length": 123, "global_instruction": "Place the purple ball on the table into the beige shallow dish.", "scene_description": "A light blue mini oven, a purple ball, multiple miniature cookware (blue cup, dark blue small pan, black cup, beige shallow dish, black grill tray, light green bowl), and a small hamburger toy are placed on a white table. A robotic arm is at the back right above the table, a tripod with a device is behind the left side of the table, and grey curtains are in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the white table, grasps the ball with its gripper, lifts the ball, moves it over the beige shallow dish, and releases the ball to drop it into the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 369, "tasks": ["place ball"], "length": 112, "global_instruction": "Place the purple ball into the beige shallow bowl on the table.", "scene_description": "A light blue toy oven sits at the left of a white table, which holds a blue mug, small dark pan, black mug, purple ball, beige shallow bowl, black grill plate, green bowl, and small toy burger.", "global_instruction_dense": "The right robotic arm approaches the purple ball, grasps it, lifts and moves it over the beige shallow bowl, then releases the ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 370, "tasks": ["place ball"], "length": 97, "global_instruction": "Place the purple ball into the beige shallow dish on the table", "scene_description": "A light blue toy appliance sits on the left of a white table, alongside a teal cup, dark small lid, black cup, light green bowl, small burger toy, beige shallow dish, purple ball, and black grill plate, with a robotic arm positioned at the top right of the table.", "global_instruction_dense": "The right robotic arm moves downward from the top right of the table to the purple ball, grasps the ball, lifts and moves it over the beige shallow dish, then lowers and releases the ball into the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 371, "tasks": ["place ball"], "length": 133, "global_instruction": "Place the purple ball into the beige shallow plate", "scene_description": "A white table has a light blue toy oven on the left, along with a blue cup, dark blue small pan, purple ball, black cup, small red and green toys, beige shallow plate, black grill tray, light green bowl, and a small hamburger toy, with filming equipment in the background.", "global_instruction_dense": "The right robotic arm moves from off-screen toward the purple ball, grasps it, lifts it, moves it over the beige shallow plate, and releases it into the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 372, "tasks": ["place ball"], "length": 85, "global_instruction": "Place the purple ball into the beige shallow bowl on the white table.", "scene_description": "A white table holds a light blue toy oven on the left, along with a blue cup, a dark blue small lid, a black cup, a purple ball, a beige shallow bowl, a black ridged tray, a light green bowl, and a toy hamburger, with a robotic arm positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves down toward the purple ball on the white table, grasps it, lifts and moves it over the adjacent beige shallow bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 373, "tasks": ["place ball"], "length": 111, "global_instruction": "Place the purple ball into the beige shallow bowl on the table", "scene_description": "A white table holds a light blue small appliance on its left side, along with a teal cup, dark blue lidded small pot, purple ball, red small lid, black cup, light green bowl, toy hamburger, beige shallow bowl, and black rectangular tray; a robotic arm is positioned above the table near the dark blue pot.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the purple ball on the table, lifts the ball, moves it over the beige shallow bowl, lowers it into the bowl, and releases it before retracting.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 374, "tasks": ["place ball"], "length": 130, "global_instruction": "Place the purple ball into the beige shallow bowl on the table.", "scene_description": "A light blue small oven sits on the left of a white table. On the table are a blue cup, a dark lidded small pot, a small red cap, a black cup, a purple ball, a beige shallow bowl, a black ridged tray, a light green bowl, and a small burger toy, with studio equipment and curtains in the background.", "global_instruction_dense": "The right robotic arm moves from the upper background toward the purple ball, grasps and lifts it, moves it over the beige shallow bowl, then releases the purple ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 375, "tasks": ["place ball"], "length": 120, "global_instruction": "Place the purple ball into the beige shallow bowl", "scene_description": "A light blue small appliance, teal cup, dark small lid, red tiny object, black cup, purple ball, beige shallow bowl, black ridged tray, light green bowl, and toy burger are arranged on a white table, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves down toward the purple ball next to the black cup, grasps the purple ball, lifts it and moves it over the beige shallow bowl, lowers and releases the ball into the bowl, then lifts upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 376, "tasks": ["place ball"], "length": 123, "global_instruction": "Place the purple ball on the table into the beige shallow bowl.", "scene_description": "A light blue toy oven is on the left of a white table, with a teal cup, small dark blue lid, beige shallow bowl, black cup, small red item, light green bowl, toy hamburger, purple ball, and black tray arranged on the table, with a robotic arm above the table's right side.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps it with its gripper, lifts it, moves it over the beige shallow bowl, and releases the ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 377, "tasks": ["place ball"], "length": 124, "global_instruction": "Place the purple ball into the beige shallow bowl on the table.", "scene_description": "A white table holds a light blue toy oven on the left, plus a purple ball, blue cup, dark blue small lid, orange small object, black cup, beige shallow bowl, black ridged tray, green bowl, and toy hamburger arranged on the tabletop, with robotic arm equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball next to the light blue toy oven, grasps the purple ball, lifts it, moves it over the beige shallow bowl, and releases the ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 378, "tasks": ["place ball"], "length": 143, "global_instruction": "Place the purple ball on the table into the beige shallow plate.", "scene_description": "A light blue small appliance, teal cup, dark small pot, purple ball, black cup, red small object, light green bowl, miniature burger toy, beige shallow plate, and black ridged tray are arranged on a white table, with camera and lighting equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps it, lifts it, moves it over the beige shallow plate, lowers it, and releases it into the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 379, "tasks": ["place ball"], "length": 114, "global_instruction": "Place the purple ball into the beige shallow dish on the white table.", "scene_description": "A light blue toy oven sits on the left of a white table, with a teal cup, small dark blue lid, black cup, light green bowl, toy hamburger, purple ball, black ridged tray, and beige shallow dish arranged on the table, and filming equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps it with its gripper, lifts it, moves it leftward over the beige shallow dish, lowers the ball, and releases it into the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 380, "tasks": ["place ball"], "length": 133, "global_instruction": "Place the purple ball into the beige shallow bowl on the table.", "scene_description": "A white table holds a light blue small appliance on the left, plus a purple ball, teal cup, dark blue small lid, orange small object, black pot, light green bowl, toy hamburger, beige shallow bowl, and black ridged tray. A grey curtain, tripod with device, and studio lighting are in the background.", "global_instruction_dense": "The right robotic gripper moves toward the purple ball on the white table, grasps it, lifts it, moves it over the beige shallow bowl, lowers the ball, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 381, "tasks": ["place ball"], "length": 111, "global_instruction": "Place the purple ball into the beige shallow plate", "scene_description": "A light blue toy oven is placed on the left of a white table. The table also has a blue cup, a dark blue small lid, a purple ball, a red small object, a black cup, a light green bowl, a toy burger, a beige shallow plate, and a black grill tray. A robotic arm is above the right side of the table, with filming equipment and a grey curtain in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the white table, grasps it with its gripper, lifts and moves it over the beige shallow plate, then releases the ball into the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 382, "tasks": ["place ball"], "length": 92, "global_instruction": "Place the purple ball on the table into the beige shallow bowl", "scene_description": "A light blue toy oven is on the left of a white table. On the table, a purple ball, blue cup, dark lid with silver handle, red small lid, black small pot, beige shallow bowl, black grill tray, green bowl, and mini burger toy are arranged, with a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves down from the upper right toward the purple ball next to the oven, grasps the purple ball, lifts it, moves it over the beige shallow bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 383, "tasks": ["place ball"], "length": 117, "global_instruction": "Place the purple ball into the light beige shallow bowl on the table.", "scene_description": "A light blue mini appliance, blue small pot, dark blue lidded small pot, purple ball, black small pot, red small object, light green bowl, mini burger toy, light beige shallow bowl, and black ridged tray are arranged on a white table, with studio lighting and a tripod device in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps it with its gripper, lifts the ball, moves it over the light beige shallow bowl, lowers it, and releases the ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 384, "tasks": ["place ball"], "length": 117, "global_instruction": "Place the purple ball into the beige shallow dish on the table", "scene_description": "A white table has a light blue toy oven on its left side, with a blue small pot, dark blue pot lid, black small pot, light green bowl, mini burger, purple ball, beige shallow dish, and black ridged tray arranged on the tabletop, plus a grey curtain and filming equipment in the background.", "global_instruction_dense": "The right robotic gripper moves toward the purple ball on the table, grasps and lifts it, moves left to position it over the beige shallow dish, lowers it into the dish, releases the ball, then lifts away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 385, "tasks": ["place ball"], "length": 112, "global_instruction": "Place the purple ball on the white table into the beige shallow bowl", "scene_description": "A light blue countertop appliance sits at the left edge of a white table. On the table surface, there are a purple ball, blue cup, dark blue lid, small red object, black cup, beige shallow bowl, black ridged tray, light green bowl, and a miniature hamburger toy arranged from left to right. Photography equipment is visible in the background.", "global_instruction_dense": "The right robotic arm approaches the purple ball on the left area of the white table, grasps the ball with its gripper, lifts it, moves it right over the beige shallow bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 386, "tasks": ["place ball"], "length": 110, "global_instruction": "Place the purple ball on the table into the beige shallow dish.", "scene_description": "A white table has a light blue toy oven on its left, plus a teal cup, dark blue lid, red small object, black cup, light green bowl, small burger toy, purple ball, beige shallow dish, and black rectangular plate, with a robotic arm above the table.", "global_instruction_dense": "The right robotic arm moves down toward the purple ball, grasps it, lifts it, moves it over the beige shallow dish, lowers it, and releases it into the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 387, "tasks": ["place ball"], "length": 117, "global_instruction": "Place the purple ball into the beige shallow bowl on the table.", "scene_description": "A white table holds a light blue toy oven on its left, plus a teal small pot, dark pan, black pot, beige shallow bowl, purple ball, black ridged tray, light green bowl, and toy burger arranged on the tabletop.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps the ball, lifts and moves it over the beige shallow bowl, lowers and releases it into the bowl, then lifts away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 388, "tasks": ["place ball"], "length": 138, "global_instruction": "Place the purple ball into the beige shallow bowl", "scene_description": "A white table holds a light blue mini oven on the left, a purple ball, a beige shallow bowl, a black grilling tray, a blue small cup, a lidded dark small pot, a black cup, a light green bowl, and a mini burger toy arranged across the table, with no robotic arm visible in the initial frame.", "global_instruction_dense": "The right robotic arm descends to the purple ball on the white table, grasps the ball with its gripper, lifts it, moves it over the beige shallow bowl, lowers it, and releases the ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 389, "tasks": ["place ball"], "length": 129, "global_instruction": "Place the purple ball on the white table into the beige shallow bowl.", "scene_description": "A light blue toy oven, a blue cup, a small dark blue lid, a red small disc, a black cup, a purple ball, a beige shallow bowl, a black grill tray, a light green bowl, and a miniature burger are arranged on a white table, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps it, lifts it, moves it over the beige shallow bowl, then lowers and releases the purple ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 390, "tasks": ["place ball"], "length": 104, "global_instruction": "Pick the purple ball from the beige dish and place it on the white tabletop.", "scene_description": "A white table holds a light blue countertop appliance on its left, plus a teal cup, dark small lidded dish, tiny orange lid, black cup, light green bowl, toy hamburger, black ridged tray, and a beige dish with a purple ball. Grey curtains and a tripod are in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball in the beige dish, grasps the ball, lifts it, moves it to an empty spot on the table next to the black cup, releases the ball onto the table, then moves upward away from the placed ball.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 391, "tasks": ["place ball"], "length": 123, "global_instruction": "Take the purple ball out of the beige bowl and place it on the white table.", "scene_description": "A light blue small appliance, a beige shallow bowl holding a purple ball, blue and black cups, a light green bowl, and a black rectangular tray are placed on a white table, with a robotic arm positioned near the light green bowl at the far end of the table.", "global_instruction_dense": "The right robotic arm moves from near the light green bowl toward the beige bowl with the purple ball, grasps the purple ball, lifts it out of the bowl, moves it rightward slightly, places it on the white table next to the black tray, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 392, "tasks": ["place ball"], "length": 111, "global_instruction": "Place the purple ball into the beige shallow dish on the table", "scene_description": "A white table has a light blue small oven on the left, with a teal cup, small teal lid, red lid, black small pot, light green bowl, small blue lid, beige shallow dish, purple ball with green mark, and black ridged tray arranged across its surface. Curtains and photography equipment are in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps it with its gripper, lifts it, moves it over the beige shallow dish, lowers the ball, and releases it into the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 393, "tasks": ["place ball"], "length": 147, "global_instruction": "Place the purple ball into the beige shallow dish on the table.", "scene_description": "A white table has a light blue toy oven on its left side, with various toy kitchen items: dark blue pot, small cyan pan, black pot, light green bowl, mini hamburger model, purple ball, beige shallow dish, and black ridged tray arranged on the table, and a robotic arm positioned near the light green bowl.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps it, lifts it, moves it over the beige shallow dish, lowers and releases the ball into the dish, then moves away from the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 394, "tasks": ["place ball"], "length": 128, "global_instruction": "Take the purple ball out of the beige bowl and place it on the white tabletop.", "scene_description": "A light blue mini oven sits on the left of a white table. On the table, a beige bowl holding a purple ball is at the center, surrounded by a blue cup, small blue dish, black cup, light green bowl, mini burger model, and black grill tray, with filming equipment and grey curtains in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball in the beige bowl, grasps the ball, lifts it out of the bowl, moves it to the adjacent open table surface, releases the ball onto the table, then lifts upward away from the placed ball.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 395, "tasks": ["place ball"], "length": 121, "global_instruction": "Place the purple ball into the beige shallow bowl", "scene_description": "A white table holds a light blue miniature appliance on its left, plus a dark blue cup, small blue dish, black cup, light green bowl, beige shallow bowl, black tray, purple ball, and small burger model, with a robotic arm near the burger on the table's right side.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps it, lifts and moves it over the beige shallow bowl, then releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 396, "tasks": ["place ball"], "length": 129, "global_instruction": "Pick the purple ball from the beige bowl and place it on the white tabletop next to the light blue appliance.", "scene_description": "A light blue mini appliance is on the left of a white table. On the table, there are a beige bowl holding a purple ball, a dark blue cup, a small light blue pan, a black cup, a light green bowl, a small burger model, and a black ridged tray, with curtains and filming equipment in the background.", "global_instruction_dense": "The right robotic arm moves into the frame toward the purple ball in the beige bowl on the white table, grasps the purple ball, lifts it out of the bowl, moves it leftward, and releases it onto the table next to the light blue mini appliance.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 397, "tasks": ["place ball"], "length": 130, "global_instruction": "Remove the purple ball from the beige dish and place it on the white table.", "scene_description": "A light blue mini oven, a beige small dish with a purple ball inside, blue and black small pots, a light green bowl, a mini burger model, and a black grill tray are placed on a white table, with filming equipment and a grey curtain in the background.", "global_instruction_dense": "The right robotic arm enters the scene, moves down to the beige dish, grasps the purple ball inside it, lifts the ball out of the dish, moves it to a spot on the table next to the dish, places the ball down, and releases its grip.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 398, "tasks": ["place ball"], "length": 119, "global_instruction": "Place the purple ball into the beige shallow plate on the table.", "scene_description": "A white table holds a light blue small oven on the left, a purple ball, a beige shallow plate, a teal mug, a small teal pan, a black small pot, a light green bowl, a mini hamburger model, and a black grill plate on the right.", "global_instruction_dense": "The right robotic arm enters the scene, lowers toward the purple ball, grasps and lifts it, moves it over the beige shallow plate, releases the ball into the plate, and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 399, "tasks": ["place ball"], "length": 120, "global_instruction": "Place the purple ball from the beige dish onto the white table next to the black grill pan.", "scene_description": "A light blue mini oven sits on the left of a white table. A beige dish holding a purple ball, dark blue cups, a black cup, a mint green bowl, a mini hamburger model, and a black grill pan are arranged on the table. A robotic arm is positioned above the table in the background.", "global_instruction_dense": "The right robotic arm moves down toward the beige dish, grasps the purple ball inside it, lifts the ball, moves it rightward to the area beside the black grill pan, lowers it, and releases it onto the white table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 400, "tasks": ["place ball"], "length": 100, "global_instruction": "Place the purple ball into the beige shallow dish on the table", "scene_description": "A light blue small oven sits at the left of a white table, with a purple ball, black ridged tray, beige shallow dish, blue small pot, blue small lid, black small pot, light green bowl, and mini burger model arranged on the table, with filming equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps it, lifts it, moves it over the beige shallow dish, lowers it, and releases it into the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 401, "tasks": ["place ball"], "length": 120, "global_instruction": "Move the purple ball from the small beige dish onto the white tabletop.", "scene_description": "A light blue small oven sits on the left of a white table, with a small beige dish holding a purple ball, a blue cup, a small blue lid, a black cup, a light green bowl, a burger-shaped toy, and a black ridged tray arranged on the table, with filming equipment and curtains in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball in the small beige dish, grasps the ball, lifts it, moves it to an empty spot on the white table, then releases the ball onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 402, "tasks": ["place ball"], "length": 111, "global_instruction": "Place the purple round ball into the beige shallow dish on the table.", "scene_description": "A white table has a light blue small oven on its left, a purple round ball, black ridged tray, beige shallow dish, blue small cup, small blue lid, black small cup, light green bowl, and small burger model arranged on its surface, with a robotic arm positioned in the upper right background initially.", "global_instruction_dense": "The right robotic arm moves down toward the purple ball on the white table, grasps it, lifts it, moves it over the beige shallow dish, lowers it, releases it into the dish, then lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 403, "tasks": ["place ball"], "length": 134, "global_instruction": "Pick the purple ball from the beige dish and place it on the white tabletop.", "scene_description": "A light blue mini oven sits on the left of a white table. Arranged on the table are a small blue pot, a small blue lid, a beige dish holding a purple ball, a small black pot, a light green bowl, a small burger model, and a black ridged tray. Curtains and photography equipment are in the background.", "global_instruction_dense": "The right robotic arm moves down toward the purple ball in the beige dish, grasps the purple ball, lifts it, moves it rightward above the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 404, "tasks": ["place ball"], "length": 130, "global_instruction": "Take the purple ball from the beige bowl and place it on the white table surface.", "scene_description": "A light blue oven sits on the left of a white table. On the table from left to right are a teal cup, small blue lid, beige bowl holding a purple ball, black cup, light green bowl, small burger model, and black rectangular tray on the right. A robotic arm is positioned at the upper right of the table.", "global_instruction_dense": "The right robotic arm moves toward the beige bowl with the purple ball, grasps the purple ball, lifts it out of the bowl, moves it to an empty spot on the white table, releases the ball onto the table, then moves upward away from the ball.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 405, "tasks": ["place ball"], "length": 133, "global_instruction": "Place the purple ball into the beige shallow bowl on the table.", "scene_description": "A light blue small oven sits on the left of a white table, with a purple ball, black griddle tray, teal cup, small blue cup, beige shallow bowl, black cup, light green bowl, and mini hamburger model arranged on the table, with filming equipment in the background.", "global_instruction_dense": "The right robotic arm moves down toward the purple ball on the table, grasps it, lifts and moves it over the beige shallow bowl, then lowers and releases the ball into the bowl before retracting upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 406, "tasks": ["place ball"], "length": 127, "global_instruction": "Remove the purple ball from the beige bowl and place it on the white table.", "scene_description": "A light blue small appliance sits on the left of a white table, with a blue cup, small blue container, beige bowl holding a purple ball, black cup, light green bowl, small stacked food item, and black ridged tray arranged on the table, and filming equipment in the background.", "global_instruction_dense": "The right robotic arm descends toward the beige bowl on the table, grasps the purple ball inside the bowl, lifts the ball out, moves it to an empty spot on the table, and releases the ball onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 407, "tasks": ["place ball"], "length": 110, "global_instruction": "Place the purple ball into the beige shallow dish", "scene_description": "A light blue countertop appliance, a purple round ball, a beige shallow dish, a teal cup, a small blue lid, a black cup, a light green bowl, a mini burger model, and a black ridged tray are placed on a white table, with a robotic arm positioned above the table near the black cup.", "global_instruction_dense": "The right robotic gripper moves toward the purple ball on the white table, grasps it, lifts it, moves it over the beige shallow dish, lowers it into the dish, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 408, "tasks": ["place ball"], "length": 148, "global_instruction": "Pick the purple ball from the white bowl and place it on the table next to the bowl.", "scene_description": "A white table holds a light blue mini oven on its left side, with a dark blue cup, a small blue cup, a white bowl containing a purple ball, a black cup, a light green bowl, a small burger model, and a black tray arranged on the surface, with a robotic arm positioned above the table near the light green bowl.", "global_instruction_dense": "The right robotic arm moves toward the white bowl holding the purple ball, grasps the purple ball, lifts it out of the bowl, moves it rightward over the table, lowers it, and releases it onto the table surface next to the white bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 409, "tasks": ["place ball"], "length": 187, "global_instruction": "Place the purple oval ball into the off-white shallow bowl on the table.", "scene_description": "A light blue countertop oven sits on the left of a white table, with a dark blue small cup, tiny bright blue cup, black cup, off-white shallow bowl, purple oval ball, black ridged tray, light green large bowl, and miniature burger arranged on the table; filming equipment and grey curtains are in the background.", "global_instruction_dense": "The right robotic arm moves into the scene, adjusts the position of the off-white shallow bowl, grasps the purple oval ball, lifts it, moves it over the bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 410, "tasks": ["place ball"], "length": 122, "global_instruction": "Take the purple ball from the beige bowl and place it on the table near the black ridged tray.", "scene_description": "A white table holds a light blue mini oven on the left, a beige bowl with a purple ball inside at the center, a small blue pot, a small blue lid, a black small pot, a light green bowl, a mini burger model, and a black ridged tray on the right, with filming equipment around the table.", "global_instruction_dense": "The right robotic arm moves toward the purple ball in the beige bowl, grasps the ball, lifts it, moves it rightward to the area between the beige bowl and the black ridged tray, then releases the purple ball onto the white table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 411, "tasks": ["place ball"], "length": 150, "global_instruction": "Place the purple ball from the beige small bowl into the black rectangular tray.", "scene_description": "A white table has a light blue small appliance on its left, a purple ball inside a beige small bowl, multiple small colored pots, a light green bowl, a tiny burger model, and a black rectangular tray on the right, with no robotic arm present initially.", "global_instruction_dense": "The right robotic arm moves toward the purple ball in the beige small bowl, grasps the ball, lifts it out of the bowl, moves it over the black rectangular tray, releases the ball into the tray, then retracts slightly and stays stationary above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 412, "tasks": ["place ball"], "length": 127, "global_instruction": "Place the purple ball from the black tray into the beige shallow bowl.", "scene_description": "A white table has a light blue compact oven on its left, with a blue cup, small blue pan, beige shallow bowl, black small pot, light green bowl, small burger model, and a black tray holding a purple ball arranged across its surface.", "global_instruction_dense": "The right robotic gripper moves to the black tray to grasp the purple ball, lifts and moves it left to the beige shallow bowl, then releases the ball into the bowl before lifting away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 413, "tasks": ["place ball"], "length": 159, "global_instruction": "Place the purple ball from the white dish onto the table near the black ridged tray.", "scene_description": "A white table holds a light blue oven on the left, a purple ball in a white dish, a blue pot, a small blue lid, a black small pot, a light green bowl, a mini burger model, and a black ridged tray on the right, with photography equipment and curtains in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball in the white dish, grasps the ball, lifts it, moves it to the area adjacent to the black ridged tray, and releases it onto the white table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 414, "tasks": ["place ball"], "length": 111, "global_instruction": "Place the purple round ball into the beige shallow dish on the table.", "scene_description": "A white table has a light blue countertop appliance on its left, a purple round ball near the center, a beige shallow dish, blue and black small pots, a light green bowl, a mini burger toy, and a black rectangular tray; a robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic gripper moves toward the purple ball on the table, grasps it, lifts it, moves it over the beige shallow dish, lowers it, and releases it into the dish before lifting away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 415, "tasks": ["place ball"], "length": 174, "global_instruction": "Move the purple ball from the white bowl onto the adjacent white table surface.", "scene_description": "A white table holds a light blue countertop appliance on its left side, a white bowl containing a purple ball, small teal and black cooking containers, a light green bowl, a miniature hamburger model, and a black ridged tray on the right, with filming equipment and curtains in the background.", "global_instruction_dense": "The right robotic arm moves from off-screen down toward the white bowl, grasps the purple ball inside the bowl, lifts the ball out of the bowl, moves it to the empty table space between the blue appliance and black tray, then releases the ball to rest on the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 416, "tasks": ["place ball"], "length": 134, "global_instruction": "Place the purple ball into the beige shallow dish on the table.", "scene_description": "A white table holds a light blue small appliance on its left, with small cookware (dark blue pot, light blue mini pan, black pot), a purple ball, a beige shallow dish, a light green bowl, a mini burger toy, and a black ridged tray arranged on its surface.", "global_instruction_dense": "The right robotic arm enters from the top of the frame, moves toward the purple ball on the table, grasps it, lifts it, moves it to the beige shallow dish, lowers it, and releases it inside the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 417, "tasks": ["place ball"], "length": 140, "global_instruction": "Take the purple ball out of the beige bowl and place it on the white table.", "scene_description": "A light blue small appliance sits on the left of a white table. The table holds a small blue pot, blue lid, black small pot, small red and yellow objects, light green bowl, mini burger model, black ridged tray, and a beige bowl containing a purple round ball. A robotic arm is at the top right of the table, with a grey curtain in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball inside the beige bowl, grasps the ball, lifts it out of the bowl, moves it to the table surface next to the bowl, and releases it to place it on the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 418, "tasks": ["place ball"], "length": 143, "global_instruction": "Place the purple ball into the beige shallow dish on the table", "scene_description": "A white table holds a light blue small appliance on its left, alongside a dark blue pot, small blue lid, beige shallow dish, black cup, purple ball, light green bowl, hamburger toy, and black ridged tray; a robotic arm is positioned above the table with a curtain and camera stand in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps it with its gripper, lifts it, moves left over the beige shallow dish, lowers it, and releases it into the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 419, "tasks": ["place ball"], "length": 116, "global_instruction": "Place the purple ball from the beige bowl onto the white table.", "scene_description": "A white table holds a light blue small oven on its left, a beige bowl containing a purple ball, a blue pot, a small blue lid, a black small pot, a light green bowl, a miniature hamburger, and a black ridged tray; a robotic arm is positioned at the upper right of the table, with a light stand and grey curtains in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball inside the beige bowl, grasps the ball to lift it out of the bowl, moves the ball rightward above the table, then releases the ball onto the table surface near the black ridged tray.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 420, "tasks": ["place ball"], "length": 147, "global_instruction": "Pick the purple ball from the white bowl and place it on the table near the black tray.", "scene_description": "A white table holds a light blue small oven on the left, a blue small pot, a tiny blue dish, a white shallow bowl with a purple ball, a black small pot, a light green bowl, a small hamburger model, and a black ridged tray on the right, with filming equipment in the background.", "global_instruction_dense": "The right robotic arm moves to the white bowl, grasps the purple ball inside it, lifts the ball, moves it rightward over the table, lowers it, releases it onto the table near the black tray, then lifts away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 421, "tasks": ["place ball"], "length": 114, "global_instruction": "Place the purple ball on the white table into the beige shallow dish.", "scene_description": "A white table holds a light blue small oven on its left side, a purple ball, black ridged tray, multiple small dishes (beige shallow dish, teal cup, black cup, light green bowl, small teal lid), and a robotic arm positioned at the table's top right.", "global_instruction_dense": "The right robotic arm moves from its initial position at the top right of the table toward the purple ball, grasps it, lifts it, moves it over the beige shallow dish, and releases it into the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 422, "tasks": ["place ball"], "length": 130, "global_instruction": "Place the purple ball into the beige shallow dish", "scene_description": "A light blue mini oven, a purple ball, a black ridged tray, and small dishware including a teal cup, dark blue cup, beige shallow dish, black cup, light green bowl, and tiny burger model are placed on a white table, with filming equipment and grey curtains in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps it with its gripper, lifts it, moves it over the beige shallow dish, and releases it into the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 423, "tasks": ["place ball"], "length": 168, "global_instruction": "Place the purple ball from the beige dish onto the table near the black ridged tray.", "scene_description": "A white table holds a light blue mini oven on the left, a teal cup, a small blue cup, a beige dish holding a purple ball, a black cup, a light green bowl, a mini burger model, and a black ridged tray, with grey curtains and filming equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball in the beige dish, grasps the ball, lifts it, moves it to the area near the black ridged tray on the table, lowers and releases the ball onto the table surface, then moves upward away from the ball.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 424, "tasks": ["place ball"], "length": 145, "global_instruction": "Place the purple round object into the beige shallow dish on the table.", "scene_description": "A light blue mini oven, a purple round object, a beige shallow dish, a black ridged tray, a small blue pot, a blue pot lid, a small black pot, a light green bowl, and a mini burger model are arranged on a white table, with photography equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple round object next to the light blue mini oven, grasps it with its gripper, lifts and moves it over the beige shallow dish, lowers it into the dish, then releases the object and moves upward away from the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 425, "tasks": ["place ball"], "length": 149, "global_instruction": "Pick up the purple ball and place it into the beige shallow bowl", "scene_description": "A white table holds a light blue small countertop appliance on its left, with a blue pot, small blue lid, black pot, beige shallow bowl, purple ball, black ridged tray, green bowl, and mini burger arranged on the surface, and a robotic arm at the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the table, grasps it with its gripper, lifts it, moves it over the beige shallow bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 426, "tasks": ["place ball"], "length": 137, "global_instruction": "Place the purple ball from the beige dish onto the adjacent white table surface.", "scene_description": "A white table holds a light blue toy oven on its left, a beige small dish with a purple ball inside, a blue cup, lidded dark pan, black cup, light green bowl, small burger toy, and black ridged tray, with filming equipment in the background.", "global_instruction_dense": "The right robotic arm moves down to the purple ball inside the beige dish, grasps the ball, lifts it out of the dish, moves it to the empty table area next to the dish, lowers and releases the ball onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 427, "tasks": ["place ball"], "length": 142, "global_instruction": "Place the purple ball on the table into the beige shallow dish.", "scene_description": "A white table has a light blue small oven on the left, a purple ball, a beige shallow dish, a black ridged tray, a teal small pot, a small dark lid, a black small pot, a light green bowl, and a tiny burger model, with curtains and photography equipment in the background.", "global_instruction_dense": "The right robotic arm moves down to the purple ball on the white table, grasps it, lifts and moves it over the beige shallow dish, releases the ball into the dish, then lifts upward away from the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 428, "tasks": ["place ball"], "length": 137, "global_instruction": "Place the purple ball from the beige dish onto the white table surface.", "scene_description": "A white table holds a light blue small appliance on the left, a beige shallow dish with a purple ball, a blue cup, a dark blue small lid, a black small pot, a black rectangular tray, a light green bowl, and a small burger model; a right robotic arm is positioned above the table, with grey curtains and studio equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball in the beige dish, grasps the ball, lifts it out of the dish, moves it rightward over the table, lowers it, releases it onto the white table surface, then moves away from the placed ball.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 429, "tasks": ["place ball"], "length": 225, "global_instruction": "Place the purple ball into the beige shallow dish on the white table.", "scene_description": "A light blue toy oven, teal small cup, dark lidded pan, black small pot, beige shallow dish, purple ball, and black ribbed rectangular tray are arranged on a white table. The right robotic arm is initially positioned near the tray on the right side of the table.", "global_instruction_dense": "The right robotic gripper moves away from its initial position near the black tray, adjusts the position of the beige shallow dish, grasps the purple ball, lifts and moves it over the dish, then releases the ball into the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 430, "tasks": ["place ball"], "length": 169, "global_instruction": "Place the purple ball into the beige shallow dish on the table.", "scene_description": "A light blue small oven sits on the left of a white table, with a blue pot, dark small lid, black pot, purple ball, light green bowl, toy burger, beige shallow dish, and black grill plate arranged on the table surface.", "global_instruction_dense": "The right robotic arm moves into the working area, approaches the purple ball on the table, grasps it, lifts and moves it over the beige shallow dish, lowers it into the dish, then releases the ball and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 431, "tasks": ["place ball"], "length": 145, "global_instruction": "Pick the purple ball from the beige bowl and place it on the table beside the black cup.", "scene_description": "A light blue compact oven sits on the left of a white table. On the table, there is a beige small bowl holding a purple ball, a black ridged tray, a teal cup, a small dark lid, a black cup, a light green bowl, and a small burger-shaped object, with a robotic arm above the table near the green bowl.", "global_instruction_dense": "The right robotic arm moves from above the light green bowl toward the beige bowl, grasps the purple ball inside the bowl, lifts it out, moves it to the area next to the black cup on the table, releases the ball onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 432, "tasks": ["place ball"], "length": 150, "global_instruction": "Take the purple ball out of the white bowl and place it on the white tabletop.", "scene_description": "A light blue mini oven, a white small bowl holding a purple ball, a blue small pot, a black small pot, a light green bowl, a black ridged tray, and a small burger model are arranged on a white table, with filming equipment and a gray curtain in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white bowl containing the purple ball, grasps the purple ball, lifts it out of the bowl, moves it over the table surface near the black tray, and releases the ball onto the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 433, "tasks": ["place ball"], "length": 153, "global_instruction": "Place the purple ball into the beige shallow dish on the table.", "scene_description": "A light blue small oven sits on the left of a white table. On the table, there is a purple ball, a beige shallow dish, a blue small pot, a dark blue lid, a black small pot, a light green bowl, a mini burger model, and a black rectangular tray, with a robotic arm in the upper right background.", "global_instruction_dense": "The right robotic arm moves down toward the purple ball on the table, grasps it with the gripper, lifts it, moves it to the beige shallow dish, lowers it, and releases it into the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 434, "tasks": ["place ball"], "length": 164, "global_instruction": "Take the purple ball out of the white dish and place it on the empty table surface near the black tray.", "scene_description": "A white table holds a light blue countertop appliance on the left, a small white dish with a purple ball inside, a teal cup, a dark blue small lid, a black cup, a light green bowl, a tiny burger model, and a black ridged tray on the right, with studio lighting and grey curtains in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball in the small white dish, grasps it, lifts it, moves it rightward to the empty table space near the black tray, then releases the ball onto the table before retracting.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 435, "tasks": ["place ball"], "length": 118, "global_instruction": "Place the green ball on the kitchen counter into the beige bowl.", "scene_description": "A white kitchen counter holds a coral pink cloth, a blue cup with green interior, two white plates (one with yellow strips), a yellow plush toy, a blue printed box, a purple ball, a green ball, a beige bowl, and an orange cup arranged left to right, with a robotic arm above the right side of the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the green ball next to the beige bowl, grasps the green ball with its gripper, lifts the ball, moves it over the beige bowl, then releases the ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 436, "tasks": ["place ball"], "length": 298, "global_instruction": "Place the purple ball into the beige bowl with the plush toys.", "scene_description": "A white kitchen counter holds a coral cloth on the far left, a blue cup with a green rim next to the cloth, two white plates (one with yellow food, one empty), a beige bowl with yellow and green plush toys, a purple ball to the right of the bowl, an orange cup further right, a blue printed box behind the bowl, and a robotic arm at the far right of the counter.", "global_instruction_dense": "The right robotic arm moves left toward the purple ball on the counter, grasps it, lifts it, moves it over the beige bowl holding yellow and green plush toys, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 437, "tasks": ["place ball"], "length": 190, "global_instruction": "Place the purple ball onto the white plate holding yellow slices.", "scene_description": "A white kitchen counter holds, from left to right: a coral-colored cloth, a blue cup with a green lid, a small yellow toy on a small plate, a white plate with yellow food slices, a small empty beige bowl, a purple ball, a light orange cloth, an orange cup, and a blue printed cardboard box against the wall, with a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the purple ball behind the beige bowl, grasps the ball, lifts it, moves it over the white plate with yellow slices, lowers it, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 438, "tasks": ["place ball"], "length": 160, "global_instruction": "Place the purple plush ball from the red checkered basket onto the white plate holding a pink apple.", "scene_description": "A white kitchen counter holds a red checkered basket filled with colorful plush balls, a blue box next to the basket, plates with toy fruits in front of the basket, and a robotic arm on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves from the right side of the scene toward the red checkered basket, grasps the purple plush ball inside the basket, lifts it, moves it to the white plate with a pink apple and yellow strip objects, lowers the ball, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 439, "tasks": ["place ball"], "length": 400, "global_instruction": "Open the counter drawer, place the purple ball from the basket into the drawer, then close the drawer.", "scene_description": "A white countertop holds a blue toy box on the left, small assorted toys beside it, a red checkered basket with fake fruit including a purple ball at the center, a closed drawer under the counter's right edge, and a robotic arm on the far right.", "global_instruction_dense": "The right robotic gripper moves to the closed counter drawer, pulls it open, moves to the red checkered basket to grasp the purple ball inside, lifts and moves the ball over the open drawer, releases it into the drawer, then pushes the drawer closed.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 440, "tasks": ["place ball"], "length": 317, "global_instruction": "Take the purple ball from the open drawer, place it into the fruit basket, then close the drawer.", "scene_description": "A white kitchen counter has an open drawer with a purple ball inside, a red checkered fruit basket with fake yellow and orange fruits, a blue play food box, and small colorful toys on its left side.", "global_instruction_dense": "The right robotic arm moves toward the open drawer, grasps the purple ball inside, lifts it, moves it to the red checkered fruit basket on the counter, drops the ball into the basket, then pushes the drawer fully closed.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 441, "tasks": ["place ball"], "length": 429, "global_instruction": "Move the purple ball from the upper refrigerator door shelf to the lower refrigerator door shelf.", "scene_description": "An open refrigerator has a purple round ball and a red round toy on its upper door shelf, and yellow, orange, green toy fruits on its lower door shelf. A robotic arm is positioned to the right of the refrigerator.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the upper refrigerator door shelf, grasps the ball with its gripper, lifts it, moves it down above the lower refrigerator door shelf, lowers it, and releases it onto the lower shelf with other toy fruits.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 442, "tasks": ["place ball"], "length": 256, "global_instruction": "Place the blue disk from the table onto the clear plastic tray.", "scene_description": "A white table holds scattered colored disks (green, blue, white, brown), a small clear tray with a green disk on it, several metal cans, a kitchen utensil container on the left, a gray multi-compartment tray at the far end, and a white robotic arm to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the blue disk on the table, grasps it with its gripper, lifts it, moves it over the clear plastic tray, and releases the blue disk onto the tray.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 443, "tasks": ["place ball"], "length": 361, "global_instruction": "Place a green circular disc from the table into the clear plastic tray behind the disc pile.", "scene_description": "A white table has a utensil holder with tongs and ladles on the left, scattered green and white circular discs in the center, small metal cans and a clear plastic tray behind the discs, and a grey divided tray further back. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves from its initial position above the right of the table down to the disc pile, grasps a green disc, lifts it, moves it over the clear plastic tray, and releases the disc into the tray.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 444, "tasks": ["place ball"], "length": 344, "global_instruction": "Pick up a white circular disc from the table and place it into the clear receptacle.", "scene_description": "A white table has green and white circular discs in its center, a utensil holder with kitchen tools on the left, a gray divided tray at the back, a small clear receptacle near the discs, and a right robotic arm positioned above the table's right side.", "global_instruction_dense": "The right robotic arm moves down and left toward the white circular discs on the table, grasps a white disc, lifts it, moves it over the clear central receptacle, and releases the disc into the receptacle.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 445, "tasks": ["place ball"], "length": 222, "global_instruction": "Pick up a green circular disc from the table and place it into the clear plastic container.", "scene_description": "A white table has kitchen utensils in a holder on its left, scattered green and white circular discs in its center, a clear plastic container with discs inside near the discs, a grey multi-compartment tray at its far end, and a robotic arm on its right side.", "global_instruction_dense": "The right robotic arm moves toward the scattered green discs on the white table, grasps a green disc with its gripper, lifts the disc, moves it over the clear plastic container, and releases the disc into the container.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 446, "tasks": ["place ball"], "length": 211, "global_instruction": "Pick up a white disk from the table and place it into the clear plastic container.", "scene_description": "A white table holds small white and green round disks, a clear plastic container, several glass jars, a utensil holder with kitchen tools, and a gray multi-compartment tray at its far end. A white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the small white disks on the table, grasps a white disk, lifts it, moves it over the clear plastic container, and releases the disk into the container.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 447, "tasks": ["place ball"], "length": 147, "global_instruction": "Place the white ball with a black stripe onto the yellow plate.", "scene_description": "A brown wooden table in a lab holds a folded light blue cloth, a white ball with a black stripe, a green-handled spoon, a round yellow plate, and a small stainless steel pot with a black marker inside. A robotic manipulator is positioned to the left of the table, with people and other lab equipment in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white ball with a black stripe on the wooden table, grasps the ball, lifts it, moves it over the yellow plate, releases the ball onto the plate, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 448, "tasks": ["place ball"], "length": 131, "global_instruction": "Move the white and black ball on the brown wooden table to a new position on the same table.", "scene_description": "A brown wooden table in a lab workspace holds a stainless steel pot with a marker inside, a folded light blue towel, a white and black ball, a green-handled tool, and a yellow round plate, with extra robotic equipment and a seated person in the background.", "global_instruction_dense": "The right robotic gripper moves down toward the white and black ball on the brown wooden table, grasps the ball, lifts it, moves it leftward, lowers it to the table surface, releases the ball, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 449, "tasks": ["place ball"], "length": 195, "global_instruction": "Place the white ball on the wooden table into the yellow plate.", "scene_description": "A wooden worktable in a robotics lab holds a yellow round plate, a white ball with black markings, a green peeler, a folded blue towel, and a metal pot containing a marker.", "global_instruction_dense": "The right robotic arm descends toward the white ball on the wooden table, grasps it, lifts and moves it over the yellow plate, lowers and releases the ball onto the plate, then lifts away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 450, "tasks": ["place ball"], "length": 167, "global_instruction": "Pick the white-and-black ball from the yellow plate and place it on the brown table.", "scene_description": "A brown wooden table in a robotics lab holds a yellow plate with a white-and-black ball, a small green object, a folded blue cloth, and a metal pot with a marker inside.", "global_instruction_dense": "The right robotic arm moves toward the white-and-black ball resting on the yellow plate, grasps it with its gripper, lifts the ball, moves it rightward over the brown table near the blue cloth, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 451, "tasks": ["place ball"], "length": 26, "global_instruction": "Pick up the white ball with black band and place it into the stainless steel pot", "scene_description": "A brown wooden table in a robotics workshop holds a round yellow plate, a small green object, a folded blue cloth, a white ball with a black band, and a stainless steel pot. A robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the white ball with black band on the table, grasps it, lifts it, moves it over the stainless steel pot, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 452, "tasks": ["place ball"], "length": 142, "global_instruction": "Place the black-and-white ball next to the folded light blue cloth on the table", "scene_description": "A brown wooden tabletop holds a folded light blue cloth, a yellow round plate, a black-and-white ball, a green-handled spoon, and a stainless steel pot with a marker inside, in a robotics lab with background equipment and a seated person.", "global_instruction_dense": "The right robotic arm moves toward the black-and-white ball on the right side of the table, grasps it with its gripper, lifts the ball, moves left to the area next to the folded light blue cloth, lowers the ball, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 453, "tasks": ["place ball"], "length": 143, "global_instruction": "Pick up the black and white ball and place it next to the yellow plate on the table.", "scene_description": "A brown wooden table holds a stainless steel bowl with a marker, a bright yellow oval plate, a green-handled peeler, a small black and white ball, and a folded light blue cloth, with a robotic arm positioned above the table in a robotics lab workspace.", "global_instruction_dense": "The right robotic arm moves downward toward the black and white ball on the middle of the brown table, grasps the ball, lifts it, moves it rightward to the area next to the yellow plate, and releases the ball onto the table beside the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 454, "tasks": ["place ball"], "length": 148, "global_instruction": "Move the white ball with a black stripe to the position next to the green-handled spoon on the table.", "scene_description": "A brown wooden table in a robotics lab holds a yellow round plate, a white ball with a black stripe, a green-handled metal spoon, a folded blue towel, and a small metal pot with a marker inside.", "global_instruction_dense": "The right robotic arm descends toward the white and black ball at the center of the table, grasps the ball, lifts it, moves it right to the area next to the green-handled spoon, lowers it, releases it onto the table, then retracts away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 455, "tasks": ["place ball"], "length": 173, "global_instruction": "Place the white and black round ball into the yellow plate on the brown table.", "scene_description": "A brown tabletop holds a bright yellow plate, green-handled peeler, white and black round ball, folded blue towel, and a metal pot containing a black and white marker. Robotic arms are positioned around the table, with office chairs, other robotic equipment and boxes in the background.", "global_instruction_dense": "The right robotic arm moves toward the white and black ball on the table, grasps it with its gripper, lifts it, moves it over the yellow plate, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 456, "tasks": ["place ball"], "length": 119, "global_instruction": "Pick up the black-and-white ball from the yellow plate and place it onto the light blue cloth.", "scene_description": "A brown wooden table holds a yellow plate with a black-and-white ball, a green-handled fork, a folded light blue cloth, and a stainless steel pot with a marker inside, in a robotics lab with other robotic equipment and office chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the black-and-white ball on the yellow plate, grasps it with its gripper, lifts it, moves it over the folded light blue cloth, then lowers and releases the ball onto the cloth.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 457, "tasks": ["place ball"], "length": 148, "global_instruction": "Place the white-and-black striped ball from the blue cloth onto the empty surface of the brown table.", "scene_description": "A brown table in a robotics lab holds a yellow round plate, a green-handled utensil, and a folded blue cloth with a white ball with a black stripe on top; a stainless steel pot holding a marker sits on the lower work platform next to the table.", "global_instruction_dense": "The right robotic arm moves down toward the white-and-black striped ball on the folded blue cloth, grasps the ball, lifts and moves it leftward over the brown table, then releases the ball onto the table surface near the green-handled utensil.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 458, "tasks": ["place ball"], "length": 163, "global_instruction": "Place the pink fuzzy ball on the brown table into the white bowl", "scene_description": "A brown table holds a white bowl, a pink fuzzy ball, a small green ball, a folded light blue towel, a silver metal pot, and an orange-handled fork; a person sits beside the table.", "global_instruction_dense": "The right robotic arm moves toward the pink fuzzy ball on the brown table, grasps it, lifts it, moves it over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 459, "tasks": ["place ball"], "length": 162, "global_instruction": "Place the pink fuzzy ball from the towel into the white bowl.", "scene_description": "On a brown wooden table, a white plastic bowl is at the upper left, a folded light blue towel holding a pink fuzzy ball and small green object is centered, a stainless steel pot is at the upper right, and a yellow-handled fork is below the towel in a robotics lab.", "global_instruction_dense": "The right robotic arm moves down toward the pink fuzzy ball on the light blue towel, grasps it, lifts it, moves it over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 460, "tasks": ["place ball"], "length": 122, "global_instruction": "Pick up the yellow ball with red top, move it over the red wooden box, then place it back on the table.", "scene_description": "A brown table holds an orange small plush toy, a folded green cloth, an open red wooden box with a light beige lid, a round silver metal lid, a yellow ball with a red top center, and a dual-handle silver metal pot, with office lab furniture in the background.", "global_instruction_dense": "The right robotic gripper approaches the yellow ball with red top on the brown table, grasps it, lifts and moves it over the open red wooden box, then lowers and releases the ball back onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 461, "tasks": ["place ball"], "length": 141, "global_instruction": "Place the yellow-white ball with red top into the empty silver double-handled metal pot on the table.", "scene_description": "A brown table holds a small orange plush toy, folded green cloth, red-and-beige wooden drawer box, yellow-white ball with red top, silver metal lid, and empty silver double-handled metal pot arranged left to right, in an office workspace.", "global_instruction_dense": "The right robotic arm moves toward the yellow-white ball with red top on the table, grasps it, lifts it, moves it over the empty silver metal pot, lowers it, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 462, "tasks": ["place ball"], "length": 102, "global_instruction": "Place the yellow ball with red dot on the left side of the brown table.", "scene_description": "A brown tabletop holds a red-drawer wooden box, small orange toy, green cloth, yellow ball with red dot, and two stainless steel bowls in a lab workspace.", "global_instruction_dense": "The right robotic arm moves down to the right side of the brown table, grasps the yellow ball with red dot, lifts it, moves it left across the table, and places it on the left section of the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 463, "tasks": ["place ball"], "length": 150, "global_instruction": "Place the clear glass disk on the brown desk into the silver metal bowl.", "scene_description": "A brown desk holds a blue-and-brown plush toy, silver metal bowl, red box with beige lid, clear glass disk, green cloth, and yellow block in an office lab environment.", "global_instruction_dense": "The left robotic arm moves downward toward the clear glass disk on the brown desk, grasps it, lifts it, moves it over the silver metal bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 464, "tasks": ["place ball"], "length": 146, "global_instruction": "Pick up the silver circular disc from the table and place it into the small metal bowl.", "scene_description": "A brown table holds a silver circular disc, a green cloth, a small metal bowl with green contents, and a wooden box with an open red drawer, in a workshop area with office chairs and workbenches in the background.", "global_instruction_dense": "The right robotic arm descends to grasp the silver circular disc on the brown table, lifts the disc, moves it leftward over the small metal bowl, lowers the disc into the bowl, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 465, "tasks": ["place ball"], "length": 235, "global_instruction": "Pick a silver disc from the metal bowl, place it on the table, then return it to the bowl.", "scene_description": "A brown work table holds a silver metal bowl, a folded bright green cloth, a small green round object, and a cream-colored box with a red front panel, set in a workshop environment with office chairs and other work surfaces in the background.", "global_instruction_dense": "The left robotic arm lowers toward the silver metal bowl on the brown table, grasps a silver disc inside the bowl, lifts it, places it on the table surface next to the bowl, then re-grasps the disc, lifts it again, and lowers it back into the metal bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 466, "tasks": ["place ball"], "length": 225, "global_instruction": "Take a green ball from the wooden box's red drawer and place it on the table.", "scene_description": "A brown table holds a small metal pot, a green cloth, a blue-and-white milk carton, and a wooden box with a closed red drawer, surrounded by office chairs in a lab workspace.", "global_instruction_dense": "The left robotic arm moves toward the wooden box, pulls open its red drawer, grasps a green ball from inside the drawer, lifts the ball, and places it on the brown table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 467, "tasks": ["place ball"], "length": 159, "global_instruction": "Place the small green ball on the brown table into the silver metal bowl.", "scene_description": "A brown table holds a small green ball, a silver metal bowl, a green cloth, an open wooden box with orange contents, a closed light beige wooden box with a slot, and a small blue carton. No robotic arm is visible in the initial frame.", "global_instruction_dense": "The left robotic arm moves down toward the small green ball on the brown table, grasps the ball, lifts it, moves it over the silver metal bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 468, "tasks": ["place ball"], "length": 120, "global_instruction": "Place a green ball into the clear glass bowl on the brown table.", "scene_description": "A brown table holds a clear glass bowl, green cloth, blue-and-white milk carton, yellow bread roll, and cream box with a red front; a workspace with office chairs and tables is in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the brown table, grasps a green ball, lifts it over the clear glass bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 469, "tasks": ["place ball"], "length": 179, "global_instruction": "Pick up the green and yellow ball from the stainless steel bowl and place it on the wooden table next to the green cloth.", "scene_description": "A brown wooden table holds a stainless steel bowl with a green and yellow ball inside, a green cloth, a shiny silver circular lid, and a red and off-white wooden box with a top slot and drawer; office chairs and workspace equipment are in the background.", "global_instruction_dense": "The left robotic arm moves toward the stainless steel bowl on the left of the wooden table, grasps the green and yellow ball inside the bowl, lifts the ball, moves it rightward to the area next to the green cloth, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 470, "tasks": ["place ball"], "length": 207, "global_instruction": "Pick up the green-and-yellow ball on the left of the table and place it near the silver lid.", "scene_description": "A brown table holds a silver bowl, green-and-yellow ball, green folded cloth, silver circular lid, and beige box with red drawer, with office chairs on both sides of the table.", "global_instruction_dense": "The left robotic arm descends toward the green-and-yellow ball on the left of the brown table, grasps the ball with its gripper, lifts it, moves it right to the area near the silver lid, then lowers and releases the ball onto the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 471, "tasks": ["place ball"], "length": 690, "global_instruction": "Pick the red ball from the stainless steel pan and place it on the right side of the wooden table.", "scene_description": "A brown wooden table holds a stainless steel pan with a red ball inside it, with a yellow cube, green cylinder, and small toy placed to the pan's right in a robotics lab workspace.", "global_instruction_dense": "The right robotic arm descends toward the stainless steel pan on the wooden table, adjusts its gripper to grasp the red ball inside the pan, lifts the ball, moves it rightward over the table surface, releases it near the yellow cube on the table's right side, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 472, "tasks": ["place ball"], "length": 1564, "global_instruction": "Move the green ball to the area left of the small brown container on the white table.", "scene_description": "An orange shallow bowl, a green spherical ball, and a small brown container are placed on a white table. The green ball is positioned between the brown container and the orange bowl, with office chairs, tripods, and other work tables visible in the background.", "global_instruction_dense": "The right robotic gripper enters the work area above the orange bowl, adjusts its position repeatedly to align with the green ball, grasps and lifts the ball, moves it leftward, places it next to the small brown container, then releases the ball and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 473, "tasks": ["place ball"], "length": 652, "global_instruction": "Pick up the green ball and place it into the orange bowl.", "scene_description": "A small white table in a lab workspace holds an orange bowl and a green spherical ball, with the green ball positioned to the right of the orange bowl.", "global_instruction_dense": "The right robotic gripper moves down toward the green ball to the right of the orange bowl, grasps the ball, lifts it, moves it over the orange bowl, and releases it to drop the ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 474, "tasks": ["place ball"], "length": 543, "global_instruction": "Pick up the green ball from the orange bowl and place it beside the bowl on the white table.", "scene_description": "A green ball rests inside an orange bowl placed on a white tabletop, with coiled cables, a red emergency stop button, lab tripods, and office chairs visible in the surrounding area.", "global_instruction_dense": "The right robotic gripper moves toward the green ball inside the orange bowl, grasps the ball, lifts it, moves it to the area next to the orange bowl on the white table, then releases the ball to set it down on the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 475, "tasks": ["place ball"], "length": 573, "global_instruction": "Pick up the green ball and place it into the orange plate", "scene_description": "A bright orange shallow plate and a green spherical ball rest on a small white table; the green ball sits to the right of the orange plate, with a right robotic arm positioned in the upper background above the table.", "global_instruction_dense": "The right robotic arm moves downward toward the green ball positioned to the right of the orange plate on the small white table, grasps the green ball, lifts it, moves it left over the orange plate, releases the ball onto the plate, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 476, "tasks": ["place ball"], "length": 557, "global_instruction": "Place the green ball into the orange plate on the small white table.", "scene_description": "A small white table holding an orange plate, a green spherical ball, a pink teardrop-shaped object, and small colorful items is positioned on a larger lab worktable, with office chairs, tripods, and lab equipment in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the green ball on the small white table, grasps the ball, lifts it, moves it over the adjacent orange plate, releases the ball into the plate, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 477, "tasks": ["place ball"], "length": 278, "global_instruction": "Place the small dark round disc into the bright orange plate.", "scene_description": "A bright shallow orange plate and a small dark round disc are placed on a white table, with lab chairs and equipment in the background.", "global_instruction_dense": "The right robotic gripper moves toward the small dark round disc on the table, grasps it, lifts it, moves it over the orange plate, then releases it into the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 478, "tasks": ["place ball"], "length": 311, "global_instruction": "Remove the green ball from the wooden box and place it on the adjacent white cabinet surface.", "scene_description": "A light beige wooden box containing a green spherical ball rests on a white cabinet, a toy sink with a pink radish is in the lower right foreground, and office chairs and work tables are in the background.", "global_instruction_dense": "The right robotic arm moves toward the wooden box, grasps the green ball inside the box, lifts the ball out of the box, moves it to the right of the box, then lowers and releases the ball onto the white cabinet surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 479, "tasks": ["place ball"], "length": 316, "global_instruction": "Take the yellow and brown striped ball out of the beige box and place it on the white cabinet surface.", "scene_description": "A white cabinet in an office workspace holds a beige open storage box, a small gray plush toy, and an orange rectangular block. Inside the beige box are a yellow and brown striped ball, a green object, and a purple object, with a play sink and office chairs visible in the surrounding area.", "global_instruction_dense": "The right robotic arm reaches into the beige storage box on the white cabinet, grasps the yellow and brown striped ball, lifts it out of the box, moves it to the open area on the cabinet next to the gray plush toy, and releases it to rest on the cabinet surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 480, "tasks": ["place ball"], "length": 350, "global_instruction": "Take the green ball out of the wooden box and place it on the lower white table.", "scene_description": "A light wooden box holding a green ball, pink ball, and green scoop sits on a white cabinet, with a pink tray, grey faucet-shaped fixture, and other lab items on the adjacent lower white table surrounded by office chairs.", "global_instruction_dense": "The left robotic arm moves toward the green ball inside the wooden box, grasps it, lifts it out of the box, moves it over the lower white table, releases it, and moves away as the green ball rests on the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 481, "tasks": ["place ball"], "length": 268, "global_instruction": "Place the yellow ball with black stripes into the open light wooden box next to it.", "scene_description": "A yellow ball with black stripes rests on a white cabinet next to an open light wooden box and a red grid mat. Assorted tools including black clamps with orange handles, a green ball, a gray grip device, a pink tray, and gray cables are on surrounding white surfaces, with office chairs and tables in the background.", "global_instruction_dense": "The right robotic gripper descends toward the yellow striped ball on the white cabinet, grasps it, lifts it, moves it over the open wooden box, releases the ball into the box, then retracts away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 482, "tasks": ["place ball"], "length": 239, "global_instruction": "Place the yellow black-striped ball on the cabinet top into the toy sink basin.", "scene_description": "A white cabinet sits on a tabletop, with a stainless steel pot with closed orange lid and a yellow black-striped ball on top of it. A toy sink with a green ball next to its faucet, a pink tray to the sink's right, and black equipment with orange handles are also on the tabletop, with office chairs in the background.", "global_instruction_dense": "The right robotic arm opens the orange lid of the stainless steel pot on the cabinet, then pushes the yellow black-striped ball off the cabinet into the toy sink basin.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 483, "tasks": ["place ball"], "length": 704, "global_instruction": "Remove the soft balls from the silver pot and place them on the orange grid mat on the white cabinet.", "scene_description": "A toy sink (with a green ball beside its gray faucet, a yellow striped item in its basin, a pink cutting board to the basin's right) sits in the foreground; a silver pot with an orange grid lid on top rests on a white cabinet behind the sink, in an office with gray rolling chairs and desks in the background.", "global_instruction_dense": "The right robotic arm grasps the orange grid lid on the silver pot, moves the lid to rest on the edge of the white cabinet, reaches into the pot to lift out the green and purple soft balls, then places the balls onto the orange grid mat on the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 484, "tasks": ["place ball"], "length": 174, "global_instruction": "Pick the pink ball from the metal pot and place it on the white cabinet surface beside the striped cushion.", "scene_description": "A white cabinet holds a metal pot with a pink ball inside, a green ball, a yellow-brown striped cushion, and an orange rectangular block, with a toy sink on a white foreground surface and office furniture in the surrounding space.", "global_instruction_dense": "The left robotic gripper reaches into the metal pot on the white cabinet, grasps the pink ball inside, lifts it out of the pot, moves it over the cabinet surface near the yellow-brown striped cushion, and releases it onto the surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 485, "tasks": ["place ball"], "length": 223, "global_instruction": "Pick up the pink ball and place it into the stainless steel pot.", "scene_description": "On top of a white cabinet, there is a yellow-and-brown striped sponge, a pink ball, a green ball, an orange block, and a stainless steel pot. The foreground has a white table with a sink, gray faucet, red mesh mat, and a black perforated platform with gray cables, with office chairs in the background.", "global_instruction_dense": "The right robotic gripper moves toward the pink ball on the white cabinet, grasps and lifts it, moves it over the stainless steel pot, and drops it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 486, "tasks": ["place ball"], "length": 241, "global_instruction": "Place the green ball on the white cabinet into the adjacent metal bucket", "scene_description": "A white work cabinet is at the center, with a yellow-and-brown striped sponge, an orange rectangular block, and a green ball on its top from left to right, and a metal bucket holding a pink ball behind the sponge. A sink with a red grid mat and gray faucet is in front of the cabinet, with office chairs and other work tables in the background.", "global_instruction_dense": "The right robotic gripper moves toward the green ball on the white cabinet, grasps it, lifts it, moves left over the metal bucket holding the pink ball, and releases the green ball into the bucket.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 487, "tasks": ["place ball"], "length": 233, "global_instruction": "Take the green stress ball out of the metal bucket and place it on the white cabinet surface.", "scene_description": "A metal bucket holding green and pink stress balls sits on a white cabinet; a yellow-brown striped sponge, orange block, mini sink with red grid scrubber, and black work platform with grey cables are on the tabletop workspace.", "global_instruction_dense": "The left robotic manipulator reaches into the metal bucket, grasps the green stress ball, lifts it out of the bucket, moves it right, and places it on the top of the white cabinet next to the bucket.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 488, "tasks": ["place ball"], "length": 311, "global_instruction": "Place the green stress ball on the white cabinet into the silver bucket holding the pink stress ball.", "scene_description": "A silver bucket holding a pink stress ball, a yellow-brown striped sponge, a green round stress ball, and an orange rectangular block are placed on a white cabinet atop a lab work counter. Below the cabinet, a sink has an orange mesh scrubber and grey faucet, with black lab equipment to the cabinet's left and office chairs in the background.", "global_instruction_dense": "The right robotic arm moves to the green stress ball on the white cabinet, grasps and lifts it, moves it left over the silver bucket, releases it into the bucket, then retracts out of view.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 489, "tasks": ["place ball"], "length": 210, "global_instruction": "Remove the green ball from the silver bucket and place it on the table next to the red grid pad.", "scene_description": "A white table has a silver bucket holding a green ball atop a white cabinet, a yellow-brown striped sponge, an orange block, a red grid pad beside a grey faucet model, and a black perforated platform with orange handles and grey coiled cables on the left, with office furniture in the background.", "global_instruction_dense": "The right robotic gripper reaches into the silver bucket to grasp the green ball, lifts it out of the bucket, moves it rightward to the area adjacent to the red grid pad, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 490, "tasks": ["place ball"], "length": 406, "global_instruction": "Place the large green ball into the silver pot, then place the pink ball and small green ball into the red sink strainer.", "scene_description": "A silver metal pot and a large green spherical ball rest on the top of a white cabinet. A red mesh strainer sits inside a circular sink opening on the foreground white table next to a grey faucet, with office chairs and tables in the background.", "global_instruction_dense": "The left robotic gripper first grasps the large green ball from the white cabinet top, places it into the silver pot, then grasps the pink ball and small green ball from the cabinet top, and places both into the red strainer in the table's sink opening.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 491, "tasks": ["place ball"], "length": 362, "global_instruction": "Take the yellow striped ball from the red bowl and place it into the red sink strainer.", "scene_description": "A red bowl on a white cabinet holds a yellow-brown striped ball and a light green ball. Below the cabinet, a white countertop with a sink faucet has a red strainer containing a pink object and green leaf toy, plus gray cables and black equipment, with office furniture in the background.", "global_instruction_dense": "The right robotic arm grasps the yellow striped ball from the red bowl on the cabinet, lifts and moves it down over the red strainer on the counter, then releases the ball into the strainer.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 492, "tasks": ["place ball"], "length": 252, "global_instruction": "Place the light green ball from the red bowl into the sink strainer.", "scene_description": "A light green ball sits inside a red bowl on top of a white cabinet, a sink with a strainer holding colorful items is on the counter below, black equipment with grey cables is on the counter's left, with office furniture in the background.", "global_instruction_dense": "The right robotic arm moves toward the red bowl on the white cabinet, grasps the light green ball inside it, lifts the ball, moves it over the sink strainer below, releases the ball into the strainer, then retracts out of view.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 493, "tasks": ["place ball"], "length": 768, "global_instruction": "Grasp the pink fuzzy ball and green plush object, and place them into the red bowl.", "scene_description": "A red empty bowl, a pink fuzzy spherical ball, and a small green plush object are placed on a white tabletop, with the bowl positioned to the left of the two plush objects. The surrounding area includes office chairs, a sink fixture, and work equipment.", "global_instruction_dense": "The left robotic arm first moves down to the red bowl and stirs inside it with its gripper, then moves right to grasp the pink fuzzy ball and green plush object, lifts them, moves left over the red bowl, releases the two objects into the bowl, and finally moves away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 494, "tasks": ["place ball"], "length": 332, "global_instruction": "Place the three colorful balls and adjacent purple tag into the blue plastic bin on the shelf", "scene_description": "A metal wire shelf holds a blue plastic bin (left on the shelf) with a white-and-yellow scooper inside, a red two-drawer wooden cabinet, a white bowl with a green object, three balls (yellow, blue, orange) next to a purple tag, cardboard boxes, and a black yellow-logo bag on the right. No robotic arm is in the work area initially.", "global_instruction_dense": "The left robotic arm moves into the shelf work area, lowers to grasp the yellow, blue, orange balls and purple tag, lifts the items, moves them over the blue bin, releases them into the bin, then lifts away from the bin.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 495, "tasks": ["place ball"], "length": 399, "global_instruction": "Place the orange, yellow, blue stress balls and purple-and-white card from the shelf into the blue tray.", "scene_description": "A metal wire shelf in an office holds a blue rectangular tray, a two-drawer red wooden container with a light beige top, a white bowl with green and white items inside, orange, blue, and yellow spherical stress balls, a purple and white printed card, and brown paper bags. White office chairs, a black backpack, and a red fire extinguisher are visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the metal shelf, grasps the purple-and-white card, yellow, blue, and orange stress balls one by one, moves each item over the blue rectangular tray on the shelf, and releases each item into the tray.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 496, "tasks": ["place ball"], "length": 222, "global_instruction": "Pick up the tan plush ball and place it on the teal-rimmed white container.", "scene_description": "In an office lab space, a gray storage cart holds a clear plastic container, topped with a teal-rimmed white container, a red box with a round wooden knob, and a tan plush ball to the right of the red box.", "global_instruction_dense": "The right robotic gripper moves toward the tan plush ball positioned to the right of the red box, grasps it, lifts it, moves left to position it above the teal-rimmed white container, and releases it onto the container.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 497, "tasks": ["place ball"], "length": 344, "global_instruction": "Pick up the brown rugby ball and place it behind the red box with the wooden knob.", "scene_description": "In an office lab environment, a brown rugby ball, a red box with a round wooden knob, a transparent plastic container with a blue label, and a large translucent blue storage bin are arranged on a gray utility cart, with a robotic gripper positioned at the top left of the frame.", "global_instruction_dense": "The left robotic gripper moves downward toward the brown rugby ball resting on the transparent container, grasps it, lifts the ball, moves it rightward above the red box, lowers it behind the red box, releases the ball, then moves upward away from the area.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 498, "tasks": ["place ball"], "length": 509, "global_instruction": "Place the large yellow ball from the white bowl into the open red-fronted wooden drawer.", "scene_description": "A metal wire storage shelf holds two stacked dark-lidded storage bins (top translucent, bottom black), a blue open plastic bin, a light brown wooden box with an open red-front drawer holding small green, purple, white items, a closed light brown wooden box, a small blue ball, a rainbow toy, a yellow tool, and a white bowl with a large yellow ball inside, with office equipment in the background.", "global_instruction_dense": "The right robotic gripper moves into the scene, positions above the large yellow ball in the white bowl, lowers to grasp the ball, lifts it, moves it over the open red-fronted wooden drawer, and releases the ball into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 499, "tasks": ["place ball"], "length": 620, "global_instruction": "Pick the yellow ball from the white bowl and place it into the blue plastic bin.", "scene_description": "A metal wire shelf holds a white bowl with a yellow ball inside, a blue plastic bin, stacked dark grey and clear plastic storage containers, yellow, orange, and blue balls, an open white paper bag, a pink bowl with a blue detergent bottle, and a brown cardboard box on the right edge of the shelf.", "global_instruction_dense": "The left robotic arm moves into the frame, positions itself above the white bowl on the wire shelf, lowers into the bowl to grasp the yellow ball, lifts the ball, moves it over the blue plastic bin, releases the ball into the bin, then retracts upward away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 500, "tasks": ["place ball"], "length": 265, "global_instruction": "Pick up the yellow, orange, and blue stress balls on the wire shelf and place them on the edge of the blue plastic bin.", "scene_description": "A metal wire shelf holds three stress balls (yellow, orange, blue) next to a white label card, a blue plastic bin, an open white box with a blue bottle inside, a white and teal bowl with colored items, a light pink shallow bowl on the right, and stacked dark gray and translucent storage bins at the back.", "global_instruction_dense": "The left robotic arm descends toward the yellow, orange, and blue stress balls on the wire shelf, grasps all three together, lifts and moves them to the edge of the blue plastic bin, releases the balls to rest on the bin edge, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 501, "tasks": ["place ball"], "length": 266, "global_instruction": "Place the orange and green-yellow balls from the white blue-rimmed bowl into the blue plastic basket on the shelf.", "scene_description": "A metal wire shelf holds a black storage bin with a translucent bin on top, a small blue plastic basket, an open white box with a blue container inside, a white bowl with a blue rim holding an orange ball and a green-yellow ball, a pink bowl with green leaf-shaped and pink items, and a brown paper bag on the right edge of the shelf, with lab office equipment in the background.", "global_instruction_dense": "The left robotic gripper moves down toward the white blue-rimmed bowl on the metal shelf, grasps the orange and green-yellow balls inside the bowl, lifts them, moves over the blue plastic basket, releases the balls into the basket, then moves upward away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 502, "tasks": ["place ball"], "length": 564, "global_instruction": "Place the orange, yellow, and blue stress balls on the shelf into the blue plastic bin.", "scene_description": "A metal wire shelf holds a black storage bin, a blue plastic bin, an open white box with a blue object inside, a white bowl with teal handles, a pink bowl with brown food pieces, orange, yellow, and blue stress balls, a white shipping label, and a lower wire basket holding colorful small items, in a lab office space.", "global_instruction_dense": "The right robotic gripper moves down toward the orange, yellow, and blue stress balls on the metal shelf, grasps the three stress balls, lifts them, moves over the blue plastic bin, and releases the stress balls into the bin.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 503, "tasks": ["place ball"], "length": 376, "global_instruction": "Place the three balls from the blue basket into the white teal-handled bowl using the paper card.", "scene_description": "A metal wire shelf holds two stacked plastic storage bins (top clear with dark lid, lower dark gray) on the left, a blue plastic basket containing orange, yellow, blue balls next to the bins, a white open box with a blue bottle to the right of the basket, a white bowl with teal handles holding a brown object, a pink bowl in front of the basket, and a brown paper bag on the far right of the shelf, with lab equipment and office cubicles in the background.", "global_instruction_dense": "The right robotic gripper grasps the paper card resting on the blue basket, lifts the card to form a ramp connecting the basket to the white teal-handled bowl, allowing the orange, yellow, and blue balls to roll down the ramp into the bowl, then releases the card onto the pink bowl and moves upward away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 504, "tasks": ["place ball"], "length": 263, "global_instruction": "Pick up the yellow ball at the bottom of the stacked balls on the wire shelf and place the stack next to the white teal-rimmed cup.", "scene_description": "A metal wire shelf holds a yellow ball, orange ball, small blue basket with a red item inside, open white box with a light green bowl, white cup with teal rim and handle, blue squeeze bottle, brown paper bag, dark gray storage bin, and a clear plastic storage bin stacked atop the dark gray bin, with additional items on lower shelf levels.", "global_instruction_dense": "The robotic arm moves into frame from above, descends to grasp the yellow ball supporting a stack of orange and blue balls on the wire shelf, lifts the entire stack, moves it rightward to the area near the white teal-rimmed cup, releases the stack onto the shelf, then retracts upward out of the operating area.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 505, "tasks": ["place ball"], "length": 175, "global_instruction": "Place the three balls on the metal wire shelf into the blue plastic basket.", "scene_description": "Three balls (yellow, orange, blue) rest on a metal wire shelf in front of a blue plastic basket, with black storage bins, bowls, and lab office equipment in the background.", "global_instruction_dense": "The left robotic arm descends toward the three balls on the shelf, grasps all three balls with its gripper, lifts them, moves rightward over the blue basket, releases the balls into the basket, then lifts upward away from the basket.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 506, "tasks": ["place ball"], "length": 496, "global_instruction": "Pick the green ball from the white bowl and place it on top of the small wooden cabinet.", "scene_description": "A metal wire shelf holds a white bowl with blue rim containing a green ball, a small wooden cabinet with a red drawer (topped with a green toy pepper and yellow toy pumpkin), a blue plastic bottle, and a large grey storage bin stands behind the shelf with office workstations in the background.", "global_instruction_dense": "The right robotic arm moves down toward the white bowl on the metal wire shelf, grasps the green ball inside the bowl, lifts the ball out of the bowl, moves it over the small wooden cabinet, lowers it, releases it onto the cabinet surface, then moves upward out of view.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 507, "tasks": ["place ball"], "length": 315, "global_instruction": "Place the green ball from the lower right light green bowl into the open red wooden drawer.", "scene_description": "A metal wire shelf holds a blue detergent bottle, a white bowl of small objects, a red open wooden drawer topped with a light wood plank holding a yellow round object, a large dark grey storage bin with stacked plastic containers on top, and a light wooden box on the far right; a concrete pillar with a red fire sign and extinguisher sits behind the shelf, with office workstations in the left background.", "global_instruction_dense": "The right robotic arm moves downward from above the storage bin to the lower right light green bowl, grasps the green ball inside it, lifts the ball, moves it left over the open red wooden drawer, releases the ball into the drawer, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 508, "tasks": ["place ball"], "length": 198, "global_instruction": "Pick the orange ball from the toy kitchen sink and place it on the adjacent countertop.", "scene_description": "A wooden toy kitchen with a silver microwave, four black stovetop burners, and a sink is in a lab workspace. The sink holds a red ball and an orange ball, with a yellow ball, two orange toy spoons, and a grey cup on the adjacent counter. A white robotic arm is positioned to the left of the kitchen.", "global_instruction_dense": "The right robotic arm moves downward toward the toy kitchen sink, grasps the orange ball inside the sink, lifts the ball out of the sink, moves it to the adjacent countertop, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 509, "tasks": ["place ball"], "length": 216, "global_instruction": "Move the grey round object on the toy kitchen counter to different positions.", "scene_description": "A wooden toy kitchen set with a microwave, four-burner stove, and sink sits on a work surface; the sink holds a red and orange toy fruit, the adjacent counter has a yellow ball, orange spoon, and grey round object, with a cable-covered workbench to the left of the kitchen.", "global_instruction_dense": "The right robotic arm extends down toward the grey round object on the toy kitchen counter next to the sink, grasps it, lifts and moves it to multiple positions across the counter, then releases the object and retracts upward away from the work surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 510, "tasks": ["place ball"], "length": 210, "global_instruction": "Place the red ball from the toy kitchen sink onto the toy kitchen stove burner.", "scene_description": "A wooden toy kitchen set is in the center, with a red ball and an orange ball inside its sink, small colorful toy items on the counter, and black equipment with coiled gray cables to the left of the kitchen set.", "global_instruction_dense": "The right robotic arm moves into the frame from above, descends toward the toy kitchen sink, grasps the red ball inside the sink, lifts the ball, moves it to a nearby stove burner, and releases the ball onto the burner.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 511, "tasks": ["place ball"], "length": 181, "global_instruction": "Pick the red ball from the toy kitchen sink and place it on the toy kitchen counter.", "scene_description": "A toy kitchen set with a wooden upper section holding a silver toy microwave, a white speckled lower counter with three black stove burners, a silver sink containing a red ball, and an orange scoop next to the sink. A robotic arm is positioned left of the toy kitchen, with background worktables and people visible.", "global_instruction_dense": "The right robotic arm moves toward the red ball inside the toy kitchen sink, closes its gripper to grasp the ball, lifts the ball out of the sink, moves it over the adjacent counter, lowers it, and releases it onto the counter next to the orange scoop.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 512, "tasks": ["place ball"], "length": 149, "global_instruction": "Place the yellow ball from the play stove burner into the adjacent play sink.", "scene_description": "A wooden child's play kitchen set sits on a work surface, with a yellow ball on the front-right play stove burner, a sink to the right of the burners, coiled gray cables and tools on a dark workbench to the left, and a table of assorted colorful small items in the background.", "global_instruction_dense": "The right robotic gripper moves toward the yellow ball on the play stove burner, grasps it, lifts it, moves it over the adjacent play sink, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 513, "tasks": ["place ball"], "length": 212, "global_instruction": "Pick the red ball from the toy kitchen sink and place it on the countertop next to the sink.", "scene_description": "A toy kitchen counter has four black stove burners, a stainless steel sink holding a red ball, a yellow toy fruit, and a gray knob with red base to the sink's right; a wooden upper shelf with a microwave sits behind the counter, with a white robotic arm above the stove.", "global_instruction_dense": "The right robotic arm moves downward toward the red ball inside the toy kitchen sink, grasps the red ball, lifts it out of the sink, moves it to the countertop right of the sink, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 514, "tasks": ["place ball"], "length": 201, "global_instruction": "Pick the yellow ball from the toy kitchen sink and place it on the adjacent countertop.", "scene_description": "A toy kitchen counter holds a sink with a yellow ball inside, three stove burners (one with an orange object), a red scoop, and a gray knob. A microwave sits on the upper wooden shelf of the toy kitchen, and a white robotic arm is positioned above the left of the kitchen.", "global_instruction_dense": "The left robotic arm moves downward toward the toy kitchen sink, grasps the yellow ball inside the sink, lifts the ball out of the sink, moves right over the countertop, and releases the ball onto the countertop next to the red scoop.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 515, "tasks": ["place ball"], "length": 171, "global_instruction": "Pick the orange ball from the toy sink and place it on the toy stove burner.", "scene_description": "A toy kitchen set is present, with an orange ball inside the toy sink, a yellow ball on the counter next to the sink, four toy stove burners, and a toy microwave on the upper wooden shelf. A robotic arm is positioned above the toy kitchen.", "global_instruction_dense": "The right robotic arm moves downward toward the orange ball in the toy sink, grasps the ball, lifts it out of the sink, moves it over the adjacent stove burner, lowers the ball, and releases it onto the burner.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 516, "tasks": ["place ball"], "length": 188, "global_instruction": "Pick the orange ball from the toy kitchen sink and place it on the stove burner.", "scene_description": "A toy kitchen playset is visible, with an orange ball, silver ring, and red ball inside its sink. A yellow lemon toy and teal bowl sit on the counter next to the sink.", "global_instruction_dense": "The left robotic arm moves toward the toy kitchen sink, grasps the orange ball inside the sink, lifts it, moves it to the adjacent stove burner, and releases it onto the burner.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 517, "tasks": ["place ball"], "length": 194, "global_instruction": "Place the orange ball from the toy kitchen stovetop burner into the sink", "scene_description": "A wooden toy kitchen playset sits on a white speckled countertop. The playset has an upper microwave, four black stovetop burners, a silver sink and faucet. An orange ball rests on the bottom-right stovetop burner, while a blue cup and red ball are inside the sink.", "global_instruction_dense": "The right robotic arm enters the scene from the upper left, lowers to grasp the orange ball on the lower right stovetop burner, lifts the ball, moves it over the sink, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 518, "tasks": ["place ball"], "length": 171, "global_instruction": "Pick the orange ball from the toy stovetop burner and place it on the counter next to the toy sink.", "scene_description": "A wooden toy kitchen set sits on a white table, with an orange ball on one stovetop burner, and a blue cup, red ball, yellow lemon inside the toy sink.", "global_instruction_dense": "The right robotic gripper moves toward the orange ball on the toy kitchen stovetop burner, grasps it, lifts it, moves it right to the counter adjacent to the toy sink, lowers it, releases it onto the counter, and moves away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 519, "tasks": ["place ball"], "length": 198, "global_instruction": "Place the orange ball on the toy kitchen counter into the toy sink.", "scene_description": "A toy kitchen counter has four stove burners with a yellow ball on the lower right burner, a toy sink to the right of the burners, an orange ball, red ball, and teal cup on the counter right of the sink, and a toy microwave on a wooden shelf above the counter.", "global_instruction_dense": "The left robotic arm extends toward the orange ball positioned right of the toy sink, grasps it, lifts it, moves it over the sink, and releases it to drop into the sink.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 520, "tasks": ["place ball"], "length": 223, "global_instruction": "Place the red ball to the right of the sink onto the upper left burner of the toy stove.", "scene_description": "A toy kitchen setup is visible: a white countertop with four black burners (a yellow ball rests on the bottom right burner), a stainless steel sink holding one orange ball and one red ball, a red ball and stacked teal-red cups on the counter to the right of the sink, and a wooden shelf with a silver microwave above the countertop.", "global_instruction_dense": "The left robotic arm moves toward the red ball on the counter right of the sink, grasps and lifts it, moves left to the upper left stove burner, places the red ball onto the burner, then lifts away from the countertop.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 521, "tasks": ["place ball"], "length": 191, "global_instruction": "Place the yellow ball from the toy stove burner into the toy sink", "scene_description": "A toy kitchen play set is at the center, with a yellow ball on the lower right stove burner, a red ball inside the attached sink, an orange ball and stacked blue and red cups on the right counter next to the sink, a toy microwave above the stove, and coiled cables on equipment to the left of the play set.", "global_instruction_dense": "The left robotic arm moves toward the yellow ball on the toy stove burner, grasps it with its gripper, lifts it, moves it over the toy sink, lowers it, and releases it into the sink next to the existing red ball.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 522, "tasks": ["place ball"], "length": 176, "global_instruction": "Place the orange ball from the stovetop burner into the adjacent toy kitchen sink.", "scene_description": "A toy kitchen set is visible, with an orange ball on one stovetop burner, a sink next to the burners, a microwave mounted above the counter, and equipment with cables to the left of the kitchen set.", "global_instruction_dense": "The left robotic arm moves toward the orange ball on the toy kitchen stovetop burner, grasps it, lifts it, moves it over the adjacent sink, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 523, "tasks": ["place ball"], "length": 194, "global_instruction": "Move the orange ball from the toy sink to the counter beside the toy stove burners.", "scene_description": "A toy kitchen play set is visible, with an orange ball in its sink, a red ball on one of its four stove burners, and five colorful cups arranged on the counter to the right of the sink.", "global_instruction_dense": "The left robotic arm moves down to the toy sink, grasps the orange ball inside the sink, lifts the ball, moves it over the stove burners, places it on the counter next to the burners, then moves away from the ball.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 524, "tasks": ["place ball"], "length": 145, "global_instruction": "Place the orange ball on the toy kitchen counter into the empty left stove burner.", "scene_description": "A toy play kitchen set rests on a light floor. Its counter has black stove burners, a stainless steel sink, an orange ball and red ball on two burners, and yellow, red, blue, turquoise cups to the sink's right, with a toy microwave on the upper shelf.", "global_instruction_dense": "The left robotic arm moves down to grasp the orange ball next to the toy kitchen sink, lifts the ball, moves it to the empty left stove burner, lowers and releases the ball into the burner, then lifts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 525, "tasks": ["place ball"], "length": 196, "global_instruction": "Place the orange ball from the left stove burner into the toy sink.", "scene_description": "A toy kitchen playset sits on a light-colored floor. Its white counter has four black burners: the left burner holds an orange ball, the middle left burner holds a red ball. A silver sink on the counter contains a small blue cup and a red ball. To the right of the sink are a yellow round object, a turquoise cup, and an orange lid. Black equipment with grey cables is left of the playset, with a grey chair in the background.", "global_instruction_dense": "The left robotic arm moves from off-screen left toward the orange ball on the toy kitchen's left stove burner, grasps the orange ball, lifts it, moves right over the toy sink, lowers it, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 526, "tasks": ["place ball"], "length": 163, "global_instruction": "Place the red ball from the toy kitchen stovetop burner onto the adjacent stovetop surface.", "scene_description": "A children's toy kitchen is at the center. Its stovetop has a red ball on the lower-right burner, its sink holds a blue cup and a red ball. A yellow cap, teal cup, and orange sippy cup sit next to the sink. Cabled equipment is to the left of the kitchen, a gray chair and orange L-shaped toy are on the floor to the right, and a toy microwave is on the kitchen's upper shelf.", "global_instruction_dense": "The left robotic arm moves down toward the red ball on the toy kitchen stovetop burner, grasps the ball, lifts it, moves it left to the adjacent stovetop surface, lowers and releases the ball, then lifts back away from the stovetop.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 527, "tasks": ["place ball"], "length": 177, "global_instruction": "Pick the orange ball from the toy sink and place it on the toy stove burner of the toy kitchen counter.", "scene_description": "A toy kitchen counter is present, with a sink holding an orange ball, a small grey disc, and a blue cup; a green cup and an orange lid sit on the counter right of the sink, a toy microwave is on the upper shelf above the counter, coiled grey cables and equipment are left of the counter, a grey office chair is in the right background, and an orange L-shaped object lies on the floor to the right of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the orange ball in the toy sink, grasps the ball, lifts it out of the sink, moves it to the toy stove burner on the counter, and places the orange ball onto the burner.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 528, "tasks": ["place ball"], "length": 131, "global_instruction": "Reposition the orange ball on the wooden table to a new adjacent position on the same table.", "scene_description": "A light wooden tabletop holds four small toys: a white turtle plush, a gray plush, an orange round ball, and a blue-and-white plush. The background is an office workspace, no robotic arm is visible initially.", "global_instruction_dense": "The right robotic arm descends from above the wooden table, grasps the orange ball, moves it slightly leftward on the table, then releases it and lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 529, "tasks": ["place ball"], "length": 229, "global_instruction": "Place the yellow ball from the left counter into the stainless steel pot on the toy stove.", "scene_description": "A toy kitchen setup is on a work surface: the left wooden counter holds a purple ball, a yellow ball, and a small orange toy; a white sink with a grey faucet sits beside the counter, a toy stove with a stainless steel pot and turquoise toy on its burners is to the sink's right, and two blue storage bins are behind the sink and stove.", "global_instruction_dense": "The left robotic arm moves down toward the yellow ball on the left wooden counter, grasps it, lifts it, moves right over the stainless steel pot on the stove, lowers it into the pot, releases the ball, then moves back upward away from the pot.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 530, "tasks": ["place ball"], "length": 128, "global_instruction": "Move the purple ball on the left toy kitchen counter to a new position on the same counter.", "scene_description": "A miniature toy kitchen setup sits on a work surface: a purple round ball rests on the left wooden counter, an open drawer below holds colorful toy produce, a gray faucet toy sink is at the center, a toy stove on the right wooden counter holds a metal pot with a yellow ball, and two blue storage bins sit behind the sink with a workshop in the background.", "global_instruction_dense": "The left robotic arm descends toward the purple ball on the left toy kitchen counter, grasps it, lifts it slightly, moves it a short distance across the counter, lowers and releases it, then retracts upward out of view.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 531, "tasks": ["place ball"], "length": 113, "global_instruction": "Place the purple ball on the left wooden countertop into the open drawer below the counter.", "scene_description": "A toy kitchen setup is visible, with a purple ball on the left wooden countertop, an open drawer below the counter holding a pink ball and gold chain, a toy stove with a metal pot (containing a yellow ball) to the right of the toy sink, and two blue storage bins behind the sink and stove.", "global_instruction_dense": "The left robotic arm moves toward the purple ball on the left wooden countertop, grasps the purple ball, lifts it, moves it over the open drawer, and releases it into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 532, "tasks": ["place ball"], "length": 142, "global_instruction": "Reposition the purple ball on the wooden kitchen countertop.", "scene_description": "A toy kitchen setup has a wooden counter with a purple ball and a yellow ball, an open drawer below holds a pink ball, and a metal pot sits on the adjacent toy stove.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the wooden counter, grasps it, lifts it slightly to adjust its position, releases it back onto the counter, then retracts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 533, "tasks": ["place ball"], "length": 136, "global_instruction": "Move the purple ball on the toy kitchen counter to a new position on the same counter.", "scene_description": "A wooden toy kitchen counter holds a purple ball and a yellow ball, adjacent to a toy sink with a grey faucet, and a toy stove with a stainless steel pot on its right side.", "global_instruction_dense": "The left robotic arm moves down toward the purple ball on the wooden toy kitchen counter, grasps it, lifts it, moves it leftward across the counter, lowers and releases it onto the counter, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 534, "tasks": ["place ball"], "length": 142, "global_instruction": "Place the purple ball on the left wooden countertop into the adjacent open sink basin.", "scene_description": "A toy kitchen setup has a purple ball and yellow ball on a left wooden countertop, a white open sink basin next to the counter, and a stovetop with a stainless steel pot to the sink's right.", "global_instruction_dense": "The left robotic gripper moves down to grasp the purple ball on the left wooden countertop, lifts the ball, moves right over the sink basin, lowers and releases the ball into the basin, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 535, "tasks": ["place ball"], "length": 152, "global_instruction": "Place the purple ball from under the sink onto the left wooden countertop next to the yellow ball.", "scene_description": "A yellow ball rests on the left wooden countertop, a purple ball sits in the open compartment below the white sink, a stainless steel pot is on the gas stove to the right of the sink, and a gray faucet is installed on the sink.", "global_instruction_dense": "The right robotic arm moves toward the purple ball under the sink, grasps it, lifts and moves it over the left wooden countertop, then places it next to the yellow ball on the countertop.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 536, "tasks": ["place ball"], "length": 121, "global_instruction": "Move the yellow ball on the wooden toy counter to a different position on the same counter.", "scene_description": "A wooden toy kitchen countertop holds a yellow round ball and a purple round ball, adjacent to a toy sink, gas stove with a stainless steel pot, and blue storage bins.", "global_instruction_dense": "The left robotic gripper moves toward the yellow ball on the wooden counter, grasps it, lifts and shifts it to a new position on the counter, releases the ball, then retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 537, "tasks": ["place ball"], "length": 152, "global_instruction": "Place the yellow ball on the wooden kitchen counter into the open drawer under the sink.", "scene_description": "A wooden play kitchen counter holds a yellow round ball and a purple round ball on its left section. An open drawer with gold rings sits below an adjacent white sink, a stainless steel pot rests on a gas stove to the sink's right, and two blue storage bins are behind the stove and sink.", "global_instruction_dense": "The right robotic arm moves toward the yellow ball on the wooden kitchen counter, grasps it, lifts it, moves it over the open drawer under the sink, lowers it, and releases it into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 538, "tasks": ["place ball"], "length": 153, "global_instruction": "Place the yellow ball from the sink compartment onto the wooden countertop next to the purple ball.", "scene_description": "A play kitchen setup is visible: a purple ball sits on the left wooden countertop, a yellow ball is in the open white sink compartment below the counter, a silver pot rests on the play gas stove to the right of the sink, and a grey toy faucet is above the sink. The robotic arm is not visible in the initial frame.", "global_instruction_dense": "The left robotic gripper moves toward the yellow ball in the sink compartment, grasps it, lifts it, moves it over the left wooden countertop, and releases it next to the purple ball.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 539, "tasks": ["place ball"], "length": 121, "global_instruction": "Move the cyan ball on the toy kitchen countertop to a new position on the same countertop.", "scene_description": "A toy kitchen setup has a wooden countertop with a yellow ball and a cyan ball, an open drawer below the sink holds a purple ball, a stainless steel pot sits on the toy gas stove.", "global_instruction_dense": "The left robotic arm moves toward the cyan ball on the toy kitchen countertop, grasps it, lifts and moves it a short distance, lowers it onto the countertop, then retracts after releasing the ball.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 540, "tasks": ["place ball"], "length": 118, "global_instruction": "Pick up the yellow ball from the toy kitchen countertop and place it back onto the countertop.", "scene_description": "A toy kitchen setup is visible, with a left wooden countertop holding a yellow ball and a green ball, a sink compartment below holding a purple ball and metal rings, and a right stovetop with a stainless steel pot on its burner. A robotic arm is positioned left of the countertop.", "global_instruction_dense": "The left robotic arm moves toward the yellow ball on the left wooden countertop of the toy kitchen, grasps the ball, lifts it briefly, lowers it back onto the countertop, releases the ball, then moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 541, "tasks": ["place ball"], "length": 111, "global_instruction": "Grasp the yellow ball on the left wooden counter and reposition it on the same counter.", "scene_description": "A toy kitchen setup has a left wooden counter with a yellow ball and small green ball, a middle sink area with a purple ball, and a right stovetop with a stainless steel pot, set in a workshop environment.", "global_instruction_dense": "The left robotic arm moves down toward the yellow ball on the toy kitchen's left wooden counter, grasps the ball, shifts it slightly to a new position on the counter, then releases the ball and lifts back up.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 542, "tasks": ["place ball"], "length": 110, "global_instruction": "Move the yellow ball to a new position on the wooden countertop.", "scene_description": "A yellow spherical ball and a green toy are placed on a small wooden countertop. An adjacent open white drawer holds a purple ball and golden rings, with a gray faucet sink, stovetop with metal pot, and workbench with tools nearby.", "global_instruction_dense": "The left robotic arm moves toward the yellow ball on the wooden countertop, grasps it, shifts it leftward across the countertop, and releases it at the new position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 543, "tasks": ["place ball"], "length": 107, "global_instruction": "Move the yellow ball on the wooden countertop to a new position on the same countertop", "scene_description": "A wooden countertop holds a yellow spherical ball, green textured object, small green cube, and orange cup-shaped item. To the countertop's right is a white sink area with a purple ball and gold rings, adjacent to a stovetop holding a metal pot. A black workbench with tools is positioned to the left of the countertop.", "global_instruction_dense": "The left robotic arm descends toward the yellow ball on the wooden countertop, grasps it, lifts it, moves it a short distance, then lowers and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 544, "tasks": ["place ball"], "length": 103, "global_instruction": "Move the purple ball on the wooden countertop to a new position on the same countertop.", "scene_description": "A wooden countertop holds a yellow ball, small green cube, purple ball, and small brown-and-white object arranged left to right. To the counter's left is a black workbench with tools and coiled cables; to its right is a play kitchen area with a grey faucet, blue bins, and a metal pot of orange items on a stovetop.", "global_instruction_dense": "The right robotic arm moves down toward the purple ball on the wooden counter, grasps it, lifts it, shifts it horizontally to a new position, then lowers and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 545, "tasks": ["place ball"], "length": 132, "global_instruction": "Place the purple plush ball from the right of the white pot to the left of the orange pan.", "scene_description": "A brown wooden table holds a teal cucumber toy, yellow cylinder, orange pan with yellow bell pepper, small pink plush, white pot with teal rim, yellow banana toy, and purple plush ball, set in an office workspace.", "global_instruction_dense": "The right robotic arm descends to grasp the purple plush ball on the right of the white pot, lifts it, moves it left to the area near the yellow cylinder, places it on the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 546, "tasks": ["place ball"], "length": 118, "global_instruction": "Move the purple ball from the center of the table to the right side of the white pot.", "scene_description": "A brown wooden table holds a teal cucumber toy, a purple round ball, an orange bowl with a yellow pepper inside, a pink plush toy, a white pot with blue rim, and a yellow banana toy from left to right, with an office workspace background.", "global_instruction_dense": "The left robotic arm descends toward the purple ball at the table center, grasps it, lifts it, moves it right to the area beside the white pot, then lowers and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 547, "tasks": ["place ball"], "length": 128, "global_instruction": "Move the purple plush ball to the area between the pink plush toy and the yellow-green can on the table.", "scene_description": "A brown wooden table holds an orange bowl with a yellow bell pepper, a pink plush octopus, a white pot with blue rim, a purple plush ball, and a yellow-green can, in an office environment with desks and computers in the background.", "global_instruction_dense": "The right robotic gripper descends to grasp the purple plush ball near the cardboard backboard, lifts it, moves it leftward to the space between the pink plush octopus and the yellow-green can, lowers it onto the table, releases it, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 548, "tasks": ["place ball"], "length": 109, "global_instruction": "Place the purple ball on the right side of the table next to the orange bowl.", "scene_description": "A wooden table in an office holds an orange bowl with a yellow toy pepper, a white pot with teal handles, a pink plush toy, a purple ball, and a yellow patterned cylindrical container.", "global_instruction_dense": "The right robotic gripper descends toward the purple ball on the right of the wooden table, grasps it, lifts it, moves it left toward the orange bowl, lowers it, and releases it next to the orange bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 549, "tasks": ["place ball"], "length": 148, "global_instruction": "Move the purple ball from the center of the table to the right side of the table near the pink plush.", "scene_description": "A brown wooden table holds an orange bowl with a yellow toy pepper, a purple ball, a yellow-green tin can, a white pot with blue handles, and a pink rabbit plush, set in an open office environment.", "global_instruction_dense": "The left robotic gripper descends toward the purple ball at the center of the table, grasps and lifts it, moves it rightward over the table, then releases it onto the table near the pink rabbit plush.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 550, "tasks": ["place ball"], "length": 138, "global_instruction": "Pick up the purple ball and place it next to the green cucumber-shaped toy on the right of the table.", "scene_description": "A brown wooden table holds a yellow cylinder, yellow banana-shaped toy, pink-orange plush toy, purple ball, green cucumber-shaped toy, and a green-yellow-white metal can. A cardboard panel stands behind the table in an open office environment.", "global_instruction_dense": "The right robotic gripper descends toward the purple ball in the middle of the table, grasps it, lifts it, moves it right to the area beside the green cucumber toy, then releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 551, "tasks": ["place ball"], "length": 97, "global_instruction": "Place the purple soft ball on the right section of the wooden table near the metal bowl.", "scene_description": "A wooden table holds an orange pepper toy, yellow corn toy, light blue cup, white salt shaker, stainless steel bowl, purple soft ball, and peach-decorated tin can, with a grey office chair left of the table and a robotic gripper positioned above the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the purple soft ball on the wooden table, grasps it, lifts it, moves it rightward, then lowers and releases it on the table near the metal bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 552, "tasks": ["place ball"], "length": 109, "global_instruction": "Move the purple ball from the back right of the wooden table to its front middle position.", "scene_description": "A wooden table holds a silver can, a white salt shaker with a silver top, a stainless steel bowl, a purple ball, and an orange pepper-shaped object from left to right, with lab equipment and office chairs in the background.", "global_instruction_dense": "The right robotic gripper moves toward the purple ball at the back right of the wooden table, grasps it, lifts and moves it to the front middle of the table, lowers it onto the table surface, releases the ball, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 553, "tasks": ["place ball"], "length": 95, "global_instruction": "Move the purple ball on the wooden table to the position near the small cylindrical can.", "scene_description": "A wooden table holds a silver metal bowl, a cyan plastic cup, a small white bottle with a silver cap, a purple ball, and a small labeled cylindrical can. Office chairs and a workbench with cables and a yellow emergency stop button are around the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the purple ball on the right side of the wooden table, grasps the ball, lifts and moves it leftward to the area near the small cylindrical can, releases the ball, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 554, "tasks": ["place ball"], "length": 100, "global_instruction": "Pick up the purple ball, place it into the metal bowl, then place it back on the table.", "scene_description": "A purple ball, a small silver can, a stainless steel bowl, and a cyan cup are placed on a brown wooden table. A black workbench with coiled cables and a yellow emergency stop button is in front of the table, with office chairs and a cardboard partition in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the brown table, grasps it with its gripper, lifts it, moves it over the stainless steel bowl and lowers it into the bowl briefly, then lifts it again and places it back on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 555, "tasks": ["place ball"], "length": 96, "global_instruction": "Pick up the purple ball on the center of the wooden table and place it near the orange pepper on the right side of the table.", "scene_description": "A small brown wooden table holds a yellow elongated object, a white small bottle, a purple round ball, a metal bowl with a cyan cup inside, and an orange bell pepper arranged left to right. A black workbench with cables, clamps, and a yellow emergency stop button is in the foreground, with office chairs and other work desks in the background.", "global_instruction_dense": "The right robotic arm moves down toward the purple ball at the center of the wooden table, grasps it with its gripper, lifts the ball, moves it rightward to the area near the orange bell pepper, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 556, "tasks": ["place ball"], "length": 134, "global_instruction": "Pick up the purple ball on the brown table and place it on the right side of the table.", "scene_description": "A small brown wooden table holds a purple ball, an orange bell pepper, and a white pot with blue handles containing a light blue cup. A brown cardboard panel stands behind the table, with an equipment workbench below and lab office furniture in the background.", "global_instruction_dense": "The right robotic gripper moves toward the purple ball on the brown table, grasps it, lifts it, moves it rightward to the area next to the white pot on the table, then lowers and releases the ball onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 557, "tasks": ["place ball"], "length": 113, "global_instruction": "Pick up the purple ball and place it into the white bowl with blue handles on the brown table.", "scene_description": "A small brown wooden table holds a white bowl with blue handles (with a light blue cup inside) and a purple round ball to the right of the bowl, with a cardboard sheet propped behind the table. A black workbench with assorted tools, cables, and small items is in the foreground, with office chairs and desks in the background.", "global_instruction_dense": "The right robotic gripper moves toward the purple ball on the right side of the brown table, grasps the ball, lifts it, moves it left over the white bowl with blue handles, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 558, "tasks": ["place ball"], "length": 101, "global_instruction": "Place the purple ball behind the bowl onto the left side of the brown wooden table.", "scene_description": "A brown wooden table holds a white bowl with teal handles (containing a teal cylinder) on its right, a purple ball sits behind the bowl, a black workbench with assorted tools is in the foreground, and a gray office chair is to the left of the table.", "global_instruction_dense": "The left robotic gripper moves down from above the cardboard backing behind the table, grasps the purple ball behind the bowl, lifts it, moves it leftward over the table, lowers it, and releases it onto the left side of the brown table before retracting.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 559, "tasks": ["place ball"], "length": 98, "global_instruction": "Move the purple ball from the left side of the small brown table to a position closer to the white teal-handled bowl.", "scene_description": "A small brown wooden table holds a purple ball, a light blue cup, and a white bowl with teal handles from left to right, with a cardboard sheet propped behind the objects; a black workbench with assorted tools sits below the table, and a gray office chair is positioned to the left of the small table.", "global_instruction_dense": "The right robotic gripper descends toward the purple ball on the left side of the brown table, grasps the ball, lifts it, moves right to a position near the white teal-handled bowl, then lowers and releases the ball onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 560, "tasks": ["place ball"], "length": 106, "global_instruction": "Move the purple ball on the wooden table to the area left of the cyan cup", "scene_description": "A small brown wooden table holds a cyan cup, a purple ball, and a white pot with teal handles. A cardboard sheet stands behind the table. A black workbench with tools, cables, and small components is in the foreground, and a grey office chair is to the left of the table.", "global_instruction_dense": "The right robotic arm moves into view above the wooden table, lowers toward the purple ball on the right of the table, grasps it, lifts it behind the cardboard backdrop, moves it over the left side of the table next to the cyan cup, and releases it there.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 561, "tasks": ["place ball"], "length": 85, "global_instruction": "Move the purple ball from the back of the brown table to its front area.", "scene_description": "A brown wooden table holds a purple ball, a turquoise cup, and a white pot with blue handles. A cardboard panel stands behind the table, a tool workbench sits in the foreground, and a grey office chair is to the left of the table.", "global_instruction_dense": "The right robotic gripper moves toward the purple ball at the back of the brown table, grasps it, lifts it, moves it to the front area of the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 562, "tasks": ["place ball"], "length": 75, "global_instruction": "Place the purple ball on the right side of the wooden table.", "scene_description": "A wooden table holds a purple ball on its left, a cyan cup in the middle, and a white lidded pot with teal handles on its right, in front of a cardboard sheet. A grey office chair is left of the table, and a workbench with tools and cables sits below the table.", "global_instruction_dense": "The right robotic gripper moves toward the purple ball on the left side of the wooden table, grasps it, lifts it, moves it rightward across the table, lowers it, and releases it at a new position near the cyan cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 563, "tasks": ["place ball"], "length": 96, "global_instruction": "Move the purple ball from the back of the wooden table to its front area.", "scene_description": "A small wooden table holds a purple ball, a light blue cup, and a white pot with teal rim. A cardboard sheet stands behind the table, and a tool workbench with cables, clamps, and small containers is in the foreground.", "global_instruction_dense": "The right robotic arm moves toward the purple ball at the back of the wooden table, grasps it, lifts it, moves it to the front part of the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 564, "tasks": ["place ball"], "length": 86, "global_instruction": "Move the purple ball to a position closer to the cardboard on the same wooden table.", "scene_description": "A purple ball, white salt shaker, light blue cup, and white pot with blue handles are arranged on a brown wooden table, with a cardboard sheet behind the table, a gray office chair to the left, and a tool workbench in the foreground.", "global_instruction_dense": "The robotic arm moves toward the purple ball on the left side of the wooden table, grasps it with its gripper, lifts it, moves it backward toward the cardboard, lowers it, and releases it at the new position on the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 565, "tasks": ["place ball"], "length": 98, "global_instruction": "Move the purple ball on the small wooden table to a position closer to the light blue cup", "scene_description": "A small brown wooden table holds a purple ball, a light blue plastic cup, and a white lidded pot with blue handles from left to right. A cardboard sign stands behind the table, a black workbench with tools and cables is in the foreground, and a grey office chair is to the left of the table.", "global_instruction_dense": "The right robotic gripper descends toward the purple ball on the left side of the small wooden table, grasps the ball, lifts it, moves it rightward to the area near the light blue cup, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 566, "tasks": ["place ball"], "length": 92, "global_instruction": "Move the purple ball from next to the turquoise cup to the right side of the wooden table.", "scene_description": "A wooden table holds a turquoise cup, a purple ball, and a white pot with teal handles from left to right. A grey office chair is to the left of the table, and a workbench with tools and cables is in the foreground.", "global_instruction_dense": "The right robotic arm moves toward the purple ball beside the turquoise cup on the wooden table, grasps it, lifts it, moves it rightward, and places it on the right side of the table near the white pot.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 567, "tasks": ["place ball"], "length": 87, "global_instruction": "Move the purple ball from the right edge of the wooden table to the left area of the same table.", "scene_description": "A small brown wooden table holds a purple soft ball and a white pot with teal handles. The pot is at the upper right of the table, the purple ball is at its right edge below the pot. A workbench with assorted tools, cables and components is in the foreground left, next to a grey office chair in the background.", "global_instruction_dense": "The right robotic gripper moves toward the purple ball at the right edge of the wooden table, grasps it, lifts it, moves left across the table, then lowers and releases it onto the left section of the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 568, "tasks": ["place ball"], "length": 93, "global_instruction": "Pick up the purple ball and place it near the white teal-handled pot on the wooden table.", "scene_description": "A wooden table holds a blue cubic block, a purple spherical ball, a yellow elongated object, and a white pot with teal handles arranged left to right. The background includes office chairs, work tables with supplies, and lab equipment.", "global_instruction_dense": "The right robotic arm moves down toward the purple ball in the middle of the wooden table, grasps it with its gripper, lifts it, moves it right to the area next to the white pot with teal handles, lowers the ball, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 569, "tasks": ["place ball"], "length": 93, "global_instruction": "Place the purple ball on the brown wooden table closer to the white bowl with teal handles.", "scene_description": "A brown wooden table holds a small blue cube, a white salt shaker with a silver top, a white bowl with teal handles, and a purple ball; a gray office chair sits to the left of the table with assorted lab equipment in the background.", "global_instruction_dense": "The right robotic gripper moves toward the purple ball on the right side of the brown wooden table, grasps it, lifts it, moves it leftward to a position near the white teal-handled bowl, and places it down on the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 570, "tasks": ["place ball"], "length": 104, "global_instruction": "Place the red round ball on the brown table into the silver metal bowl on the same table.", "scene_description": "A brown wooden table holds a silver metal bowl, a purple toy eggplant, a red round ball, a labeled metal can, and an orange folded cloth. In the foreground, a white bowl with blue handles holding a small can, two orange cloths, a yellow box with a red button, and black cables are visible, with a grey office chair to the left of the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the red ball on the brown table, grasps the ball, lifts it, moves it over the silver metal bowl, then releases the ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 571, "tasks": ["place ball"], "length": 140, "global_instruction": "Place the red ball from the silver bowl onto the surface of the small brown table.", "scene_description": "A small brown table holds a silver metal bowl with a red ball inside, a purple teardrop object, a small yellow-white tin can, and a folded orange cloth. A grey office chair is left of the table, a lower surface below holds a white blue-rimmed pot, orange cloths, coiled cables, and a yellow device with an orange button, with a cardboard partition and cluttered white desk in the background.", "global_instruction_dense": "The right robotic arm moves down toward the silver bowl on the brown table, grasps the red ball inside the bowl, lifts the ball, moves it right over the table, lowers it, and releases it onto the table next to the folded orange cloth.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 572, "tasks": ["place ball"], "length": 96, "global_instruction": "Move the red ball on the brown wooden table to a new position on the same table.", "scene_description": "A small brown wooden table holds a silver round plate, a silver canned container, an orange square cloth, and a red ball. Below the table are a white pot with blue handles, two orange cloths, an orange towel, black coiled cables, and a yellow emergency stop with a red button, with a grey office chair to the left of the table.", "global_instruction_dense": "The right robotic gripper moves from the upper right toward the red ball on the right side of the brown table, grasps the red ball, lifts it slightly, moves it leftward across the table, then lowers and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 573, "tasks": ["place ball"], "length": 111, "global_instruction": "Place the red ball at the right end of the brown table into the silver metal bowl on the table.", "scene_description": "A brown wooden table holds a silver metal bowl, a small white and orange can, an orange square cloth, and a red ball at the table's right edge. To the left of the table is a grey office chair, and below the table are an orange towel, a white pot with blue handles, an orange triangular cloth, coiled black cables, and a yellow box with a large orange button.", "global_instruction_dense": "The right robotic arm moves toward the red ball at the right edge of the brown table, grasps the ball with its gripper, lifts the ball, moves left over the silver metal bowl, and releases the ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 574, "tasks": ["place ball"], "length": 134, "global_instruction": "Pick the red ball from the silver pan and place it on the brown table surface.", "scene_description": "A brown tabletop holds an orange folded cloth on its left, a silver metal pan containing a red ball, and a small orange bowl on its right. A gray office chair is left of the table, work desks with assorted items are in the background, and tools including an orange towel, black cables, and a yellow box with an orange cap are in the foreground.", "global_instruction_dense": "The right robotic gripper moves into the frame toward the silver pan on the brown table, grasps the red ball inside the pan, lifts the ball, moves it a short distance over the empty table surface, lowers the ball, releases it onto the table, then lifts away from the placed ball.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 575, "tasks": ["place ball"], "length": 111, "global_instruction": "Pick the red ball from the silver pan and place it on the brown table surface.", "scene_description": "A brown folding table holds an orange folded cloth, a small orange container, and a silver pan with a red ball inside. A grey office chair sits left of the table, and a workbench with an orange towel, coiled black cable, and a yellow box with an orange knob is in the foreground.", "global_instruction_dense": "The right robotic arm moves toward the silver pan on the brown table, grasps the red ball inside the pan, lifts the ball, moves it to an empty spot on the table, and releases the ball onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 576, "tasks": ["place ball"], "length": 116, "global_instruction": "Place the red ball on the brown table into the silver frying pan.", "scene_description": "A brown table holds a folded orange cloth, a red round ball, a small orange dish with a blue top, and a silver frying pan. A gray office chair is to the left of the table, work desks with assorted items are in the background, and coiled cables, orange cloths and tools are on the foreground workbench.", "global_instruction_dense": "The right robotic arm descends toward the red ball on the brown table, grasps the red ball with its gripper, lifts and moves it over the silver frying pan, lowers the ball into the pan, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 577, "tasks": ["place ball"], "length": 107, "global_instruction": "Place the red ball on the table into the silver frying pan.", "scene_description": "A brown wooden table holds an orange folded cloth, a yellow cube, a green cylindrical block, a red squeeze bottle, a red ball, and a silver frying pan, with the frying pan on the right side of the table and the red ball left of the pan.", "global_instruction_dense": "The right robotic arm moves down toward the red ball on the table, grasps the ball with its gripper, lifts it, moves it right over the silver frying pan, releases the ball into the pan, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 578, "tasks": ["place ball"], "length": 132, "global_instruction": "Take the red ball out of the silver frying pan and place it next to the yellow cube on the table.", "scene_description": "A brown wooden table holds an orange folded cloth, yellow cubic block, small green cylinder, red squeeze bottle, and silver frying pan with a red ball inside. A workbench with tools, cables and a colorful fabric cube is in the foreground in a workshop space.", "global_instruction_dense": "The right robotic gripper moves toward the silver frying pan on the table, grasps the red ball inside the pan, lifts the ball, moves it left to the area beside the yellow cube, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 579, "tasks": ["place ball"], "length": 110, "global_instruction": "Place the red ball on the brown table into the silver frying pan", "scene_description": "A brown worktable holds an orange folded cloth, yellow cube, green cylinder, red squeeze bottle, silver frying pan, red round ball, and small orange dial. Robotic equipment is positioned to the left of the table.", "global_instruction_dense": "The right robotic gripper moves toward the red ball on the brown table, grasps the ball, lifts it, moves it over the silver frying pan, and releases the ball into the pan.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 580, "tasks": ["place ball"], "length": 129, "global_instruction": "Move the red ball from the stainless steel pan to the table next to the green cylinder.", "scene_description": "A brown table in a robotic workshop holds a yellow cube, green cylinder, orange squeeze bottle, folded orange cloth with a black clip, stainless steel pan containing a red ball, and a brown round knob, with robotic equipment nearby.", "global_instruction_dense": "The right robotic arm moves toward the stainless steel pan on the brown table, grasps the red ball inside the pan, lifts the ball, moves it left to the area next to the green cylinder, and places it on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 581, "tasks": ["place ball"], "length": 136, "global_instruction": "Pick up the pink ball on the brown table and place it next to the white bowl with blue handles.", "scene_description": "A brown wooden table holds an orange folded cloth, a pink ball, a green and yellow tin can, a white shaker, and a white bowl with blue handles holding a blue block, with a workbench with assorted tools below the table.", "global_instruction_dense": "The right robotic gripper moves down to grasp the pink ball on the brown table, lifts it, moves it right to the area near the white bowl with blue handles, then lowers and releases the pink ball onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 582, "tasks": ["place ball"], "length": 102, "global_instruction": "Pick up the small red ball with green base and place it in a new position on the brown table.", "scene_description": "A brown wooden table holds a small red spherical object with green base (left), a yellow cubic block, a stainless steel metal bowl, an orange bell pepper, and a gray cylindrical object (right). A gray office chair is to the left of the table, and a black workbench with tools, cables, and a yellow emergency stop device with orange button is in the foreground.", "global_instruction_dense": "The left robotic arm moves toward the small red ball with green base on the left portion of the brown table, grasps it, lifts it, moves it rightward to a position between the yellow block and the orange bell pepper, then lowers and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 583, "tasks": ["place ball"], "length": 97, "global_instruction": "Pick the metal disc from the stainless steel bowl and place it on the brown table surface.", "scene_description": "A brown wooden table holds a yellow cube on its left, an orange bell pepper at its center, and a stainless steel bowl on its right. A workbench with cables and a yellow emergency stop button is in the foreground, with office furniture in the background.", "global_instruction_dense": "The right robotic arm moves into view above the table, lowers into the stainless steel bowl to grasp the small metal disc inside, lifts the disc, moves left across the table, and places the disc on the table between the yellow cube and orange bell pepper.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 584, "tasks": ["place ball"], "length": 91, "global_instruction": "Take the yellow-and-black striped ball out of the metal bowl and place it on the brown wooden table.", "scene_description": "A small brown wooden table holds a folded orange towel on its left and a small metal bowl containing a yellow-and-black striped ball on its right, with a cardboard sheet propped behind the table, and a black workbench with tools, cables and a yellow emergency stop button in the foreground.", "global_instruction_dense": "The right robotic gripper moves toward the yellow-and-black striped ball inside the metal bowl on the brown table, grasps the ball, lifts it out of the bowl, moves it to an empty area on the right side of the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 585, "tasks": ["place ball"], "length": 105, "global_instruction": "Take the yellow-black striped ball out of the metal bowl and place it on the wooden table.", "scene_description": "A wooden table holds an orange folded cloth, a small metal bowl with a yellow-black striped ball inside, a gray cylinder, and a yellow cube, with cardboard propped behind the table.", "global_instruction_dense": "The right robotic arm moves down toward the metal bowl on the wooden table, grasps the yellow-black striped ball inside the bowl, lifts it out of the bowl, moves it to the empty table surface left of the bowl, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 586, "tasks": ["place ball"], "length": 108, "global_instruction": "Take the striped ball out of the metal bowl and place it on the brown wooden table.", "scene_description": "A brown wooden table holds a folded orange cloth on its left, a metal bowl with a pale yellow dark-striped ball, a gray cylinder, and a small yellow cube, with a cardboard panel behind the table. A black workbench with cables, clamps and a yellow emergency stop button is in the foreground.", "global_instruction_dense": "The right robotic gripper descends toward the metal bowl on the brown table, grasps the striped ball inside the bowl, lifts it, moves it right over the table surface, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 587, "tasks": ["place ball"], "length": 106, "global_instruction": "Place the brown round disk on the wooden table into the orange plate.", "scene_description": "A small wooden table holds an orange round plate, a green spherical ball, a yellow triangular pizza slice, and a brown round disk, with the plate on the left side of the table.", "global_instruction_dense": "The right robotic gripper moves down toward the brown round disk on the wooden table, grasps and lifts the disk, moves it left over the orange plate, then lowers and releases it into the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 588, "tasks": ["place ball"], "length": 108, "global_instruction": "Reposition the green ball to a new position on the brown wooden table.", "scene_description": "A brown wooden table holds an orange circular plate with a small brown object, a green spherical ball, and an orange pizza-slice-shaped object, with a cardboard panel behind the table. A black workbench with cables, orange-handled clamps, and a yellow emergency stop with an orange button sits in the foreground, with lab equipment and office chairs in the background.", "global_instruction_dense": "The right robotic arm descends toward the green ball on the brown wooden table, grasps it, lifts it, moves it to a position closer to the orange pizza-slice object, lowers it, releases it, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 589, "tasks": ["place ball"], "length": 85, "global_instruction": "Place the green round ball on the wooden table into the orange round plate.", "scene_description": "A small wooden table has an orange round plate, a yellow triangular object, a small orange circular tape, and a green round ball arranged on its surface, with a cardboard propped behind the table and equipment on a black workbench in the foreground.", "global_instruction_dense": "The right robotic gripper moves downward toward the green round ball on the table, grasps it, lifts it, moves it over the orange round plate, lowers it, and releases it into the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 590, "tasks": ["place ball"], "length": 115, "global_instruction": "Move the green ball from the orange plate to the adjacent wooden table surface.", "scene_description": "A brown wooden table holds a bright orange plate with a green spherical object, an orange triangular piece, and a small round brown object. A vertical cardboard stands behind the table, and a black workbench with tools, coiled cables, and a yellow emergency stop with an orange button is in the foreground.", "global_instruction_dense": "The right robotic gripper descends toward the green ball on the orange plate, grasps the ball, lifts it, moves it rightward above the wooden table, lowers it, and releases it onto the table surface next to the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 591, "tasks": ["place ball"], "length": 118, "global_instruction": "Place the green spherical ball on the right of the table into the orange plate on the left of the table.", "scene_description": "A brown wooden table has an orange round plate on its left, an orange triangular pizza-shaped toy on its middle-right, and a green spherical ball at its right end, with a cardboard sheet behind the table, and a black workbench with a yellow emergency stop button in the foreground.", "global_instruction_dense": "The right robotic gripper moves toward the green ball at the right end of the wooden table, grasps the green ball, lifts it, moves left over the orange plate, lowers the ball into the plate, and releases the gripper.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 592, "tasks": ["place ball"], "length": 102, "global_instruction": "Place the green ball from the orange plate onto the wooden table surface next to the plate.", "scene_description": "A small wooden table holds an orange plate with a green spherical ball on it, an orange triangular block, a brown round object, and a green rectangular block, with a cardboard sheet propped behind the table, and a black workbench with tools, cables, and a yellow emergency stop button in the foreground.", "global_instruction_dense": "The left robotic gripper descends toward the green ball on the orange plate, grasps it, lifts and moves it rightward over the wooden table, lowers it, and releases it onto the table surface next to the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 593, "tasks": ["place ball"], "length": 86, "global_instruction": "Place the green ball onto the right side of the wooden table", "scene_description": "A small brown wooden table holds an orange round plate, a green spherical ball, a small green rectangular block, an orange triangular pizza-shaped object, and a small round reddish-brown object, with a cardboard sheet behind the table and a black workbench with equipment in the foreground.", "global_instruction_dense": "The right robotic gripper moves down toward the green ball on the wooden table, grasps it, lifts it, moves it rightward across the table, lowers it, and releases it onto the right side of the table next to the orange triangular object.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 594, "tasks": ["place ball"], "length": 97, "global_instruction": "Place the small brown disk into the orange plate on the table.", "scene_description": "A brown wooden table holds an orange round plate, a small brown circular disk, a small green rectangular block, and a green spherical ball, with a cardboard sheet propped behind the table.", "global_instruction_dense": "Right robotic gripper moves toward the small brown disk on the table, grasps it, lifts it, moves it over the orange plate, and releases it into the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 595, "tasks": ["place ball"], "length": 102, "global_instruction": "Place the green spherical ball on the right end of the brown table into the orange round plate on the left of the table.", "scene_description": "A brown wooden table has an orange round plate on its left side, a small green rectangular block, an orange folded pouch, a small brown circular object, and a green spherical ball on its far right. A black workbench with tools, cables, and a yellow emergency stop button sits in the foreground, with a white machine and camera tripods to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the green spherical ball on the right end of the brown table, grasps it with its gripper, lifts the ball, moves left over the orange round plate, lowers the ball, and releases it into the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 596, "tasks": ["place ball"], "length": 111, "global_instruction": "Move the light green ball from the orange plate onto the adjacent wooden table surface.", "scene_description": "A brown wooden table holds an orange plate with a light green ball, a small green block, a small brown round object, and an orange folded pouch; a black workbench with tools, cables, and a yellow emergency stop button is in the foreground, with a cardboard sheet behind the table.", "global_instruction_dense": "The right robotic arm moves downward toward the light green ball on the orange plate, grasps the ball with its gripper, lifts the ball, moves it rightward over the wooden table, lowers it, and releases it onto the table surface next to the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 597, "tasks": ["place ball"], "length": 91, "global_instruction": "Move the light green ball from its original position to the right side of the wooden table.", "scene_description": "A brown wooden table holds an orange plate with a small dark item, a light green spherical ball, a small green rectangular block, and an orange folded cloth. A right robotic gripper is positioned above the table, with a black workbench holding cables and equipment in the foreground.", "global_instruction_dense": "The right robotic gripper moves downward toward the light green ball on the wooden table, grasps the ball, and moves it rightward across the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 598, "tasks": ["place ball"], "length": 103, "global_instruction": "Place the green ball on the wooden table into the orange plate.", "scene_description": "A brown wooden table has an orange round plate on its left, a small brown round object behind the plate, a green ball to the right of the plate, and a folded orange cloth on its far right, with a cardboard sheet propped behind the table. A black workbench with cables, orange clamps, and a yellow emergency stop button is in the foreground.", "global_instruction_dense": "The left robotic gripper moves toward the green ball on the wooden table, grasps and lifts it, moves left over the orange plate, lowers it, and releases it into the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 599, "tasks": ["place ball"], "length": 90, "global_instruction": "Place the green ball on the table into the orange plate", "scene_description": "A brown table holds an orange plate, a green ball, a small brown round object, and an orange folded cloth. A robotic gripper is positioned above the right side of the table, with a black workbench holding cables and a yellow emergency stop button in the foreground.", "global_instruction_dense": "The right robotic gripper moves toward the green ball on the brown table, grasps the green ball, lifts it, moves it over the orange plate, and releases it into the orange plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 600, "tasks": ["place ball"], "length": 103, "global_instruction": "Pick up the small brown disc on the table and place it next to the red plate.", "scene_description": "A brown wooden table holds a red plate with a green oval object, a small brown circular disc, and a folded orange cloth, with a cardboard panel behind the table items; a black workbench with tools, cables, and a yellow emergency stop button is in the foreground.", "global_instruction_dense": "The right robotic arm descends toward the small brown disc on the brown table, grasps it, lifts it, moves it leftward, and places it next to the red plate holding the green oval object.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 601, "tasks": ["place ball"], "length": 86, "global_instruction": "Move the green ball from the orange plate to the right side of the wooden table.", "scene_description": "A brown wooden table holds an orange plate with a green spherical ball, a folded orange cloth, and a small brown dish behind the plate; a black workbench with coiled cables, a yellow emergency stop button with an orange top, and metal fixtures is in the foreground, with office chairs and lab equipment in the background.", "global_instruction_dense": "The right robotic gripper descends toward the green ball on the orange plate, grasps the ball, lifts it off the plate, moves it rightward across the wooden table, lowers it to the table surface, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 602, "tasks": ["place ball"], "length": 81, "global_instruction": "Place the green spherical ball on the brown table into the orange round plate.", "scene_description": "A brown wooden table holds an orange round plate on its left side, a green spherical ball, an orange folded cloth, a small green rectangular block on its right end, and a small brown round object next to the green ball. A black worktable with equipment including a yellow emergency stop button and black cables is in the foreground.", "global_instruction_dense": "The right robotic gripper moves down to grasp the green ball on the brown table, lifts the ball, moves it left over the orange plate, lowers and releases the ball into the plate, then lifts away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 603, "tasks": ["place ball"], "length": 88, "global_instruction": "Place the green ball from the orange plate onto the adjacent brown table surface.", "scene_description": "A small brown table holds an orange plate with a green ball on top, a small brown round object, an orange fabric pouch, and a green cubic block. A black workbench with tools is in the foreground, and a cardboard panel stands behind the table.", "global_instruction_dense": "Right robotic gripper moves toward the green ball on the orange plate, grasps it, lifts it, moves it rightward over the brown table, lowers it, and releases it onto the table surface next to the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 604, "tasks": ["place ball"], "length": 99, "global_instruction": "Move the green ball from the left stove grate to the counter space between the two stove grates on the toy kitchen.", "scene_description": "A white toy kitchen set is on a lab worktable. A green spherical ball sits on the left stove grate, and a brown perforated square block sits on the right stove grate, with lab furniture in the background.", "global_instruction_dense": "The left robotic arm moves above the green ball on the left stove grate, lowers its gripper to grasp the ball, lifts it, moves it a short distance rightward, then releases it onto the counter between the two stove grates.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 605, "tasks": ["place ball"], "length": 121, "global_instruction": "Pick up the green ball from the toy kitchen stove burner and place it on the counter next to the sink.", "scene_description": "A white toy kitchen playset is in the foreground, with a brown object in its sink, a green round ball on a stove burner, a yellow striped toy, a red toy on another burner, and a small green toy on its counter, set in an office with chairs and tables in the background.", "global_instruction_dense": "The left robotic arm moves toward the green ball on the toy kitchen stove burner, grasps it, lifts and moves it left to the counter next to the sink, releases the ball, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 606, "tasks": ["place ball"], "length": 103, "global_instruction": "Place the green ball on the toy kitchen counter into the adjacent sink", "scene_description": "A white toy kitchen playset sits on a lab tabletop. On the playset counter, there is a silver sink, a green ball, brown plush object, yellow-black striped sponge, red plush object, and small green plush pieces next to the red object.", "global_instruction_dense": "Left robotic arm moves down toward the green ball next to the toy kitchen sink, grasps the ball, lifts it, moves it over the sink, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 607, "tasks": ["place ball"], "length": 146, "global_instruction": "Take the green ball from the toy kitchen sink and place it on the counter beside the brown plush toy.", "scene_description": "A white toy kitchen counter is visible, with a green ball inside its left sink, and brown, yellow-black striped, magenta, and green plush toys on the counter to the right of the sink, with office furniture in the background.", "global_instruction_dense": "The left robotic arm moves down toward the green ball in the toy kitchen sink, grasps the green ball, lifts it out of the sink, moves it rightward to the counter next to the brown plush toy, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 608, "tasks": ["place ball"], "length": 86, "global_instruction": "Place the green ball into the sink of the toy kitchen playset.", "scene_description": "A white toy kitchen playset is on a tabletop, with a green round ball next to its sink, a yellow striped toy, a small grey toy, and a red toy with green parts on the right burner. The background is an office lab space with chairs and tables.", "global_instruction_dense": "The left robotic arm moves toward the green ball on the toy kitchen counter, grasps it, lifts it, moves it over the sink, lowers it into the sink, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 609, "tasks": ["place ball"], "length": 135, "global_instruction": "Remove the green ball from the sink and place it on the adjacent countertop.", "scene_description": "A white toy sink station sits on a workbench, with a green ball in the left sink basin, a yellow sponge on a metal stove grate, a brown apple, and a red-and-green toy on another metal grate. The background is an office with rolling chairs, tables, and storage containers, no robotic arm is visible in the initial frame.", "global_instruction_dense": "The left robotic gripper moves down to the green ball inside the sink, grasps the ball, lifts it out of the sink, moves it to the empty counter space next to the sink, lowers it, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 610, "tasks": ["place ball"], "length": 103, "global_instruction": "Place the green ball on the toy kitchen counter into the adjacent sink.", "scene_description": "A white toy kitchen counter with an integrated sink is on a workbench, with a green ball, a yellow sponge, a brown apple, a red heart-shaped toy, and a small green toy placed on the counter, office chairs and tables are in the background.", "global_instruction_dense": "The right robotic arm moves down toward the green ball on the toy kitchen counter, grasps it, lifts it, moves it over the sink, lowers it into the sink, and releases the ball.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 611, "tasks": ["place ball"], "length": 122, "global_instruction": "Take the green ball from the toy kitchen sink and place it on the adjacent toy kitchen counter.", "scene_description": "A white toy kitchen setup is on a table, with a green ball in its sink, a yellow sponge, brown apple, red heart-shaped toy, and green vegetable-shaped toy on its stovetop surface.", "global_instruction_dense": "The left robotic arm moves down toward the green ball in the toy kitchen sink, grasps the ball, lifts it out of the sink, moves it onto the flat counter area next to the sink, then releases the ball onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 612, "tasks": ["place ball"], "length": 101, "global_instruction": "Place the green ball onto the left gray burner grate on the toy kitchen table.", "scene_description": "A white toy kitchen table has a sink and faucet on its left, two gray burner grates, a green ball next to the sink, a brown apple-shaped object between the grates, a yellow sponge to the right of the left grate, and a red heart-shaped object plus green broccoli-shaped object on the right grate.", "global_instruction_dense": "The left robotic arm moves into position above the green ball on the toy kitchen table, lowers to grasp it, lifts it, moves it over the left gray burner grate, lowers it, and releases it onto the grate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 613, "tasks": ["place ball"], "length": 102, "global_instruction": "Place the green ball from the left burner grate onto the adjacent white counter surface.", "scene_description": "A white toy kitchen counter with a sink and two gray burner grates sits on a table. A green ball rests on the left grate, a yellow sponge rests on the right grate.", "global_instruction_dense": "The left robotic arm moves toward the green ball on the left burner grate, grasps and lifts the ball, moves it slightly right, and places it on the white counter between the two grates.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 614, "tasks": ["place ball"], "length": 105, "global_instruction": "Place the green ball onto the left stove burner of the play kitchen.", "scene_description": "A white play kitchen counter is in the foreground, fitted with a sink, two grey stove burners, a yellow sponge on the right burner, and a green ball between the burners, with office chairs and tables in the background.", "global_instruction_dense": "The left robotic arm lowers toward the green ball between the play kitchen burners, grasps it, lifts it, moves it over the left stove burner, lowers it, and releases it onto the burner.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 615, "tasks": ["place ball"], "length": 111, "global_instruction": "Place the green ball from the left burner stand onto the right empty burner stand.", "scene_description": "A green ball, a pink strawberry-shaped toy, two grey burner stands, and a miniature sink with faucet are placed on a white tabletop toy kitchen surface.", "global_instruction_dense": "The left robotic arm moves toward the green ball on the left burner stand, grasps it, lifts and transfers it to the right empty burner stand, then lowers and releases the ball onto the stand.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 616, "tasks": ["place ball"], "length": 103, "global_instruction": "Move the green ball from the right gas burner to the left gas burner on the toy kitchen playset.", "scene_description": "A white toy kitchen playset with a sink and two gray gas burners is on a tabletop. A green ball rests on the right burner, a red plush strawberry sits on the counter between the burners, and a brown object is in the sink.", "global_instruction_dense": "The right robotic arm moves into view above the toy kitchen, lowers toward the green ball on the right burner, grasps the ball, lifts and moves it left to the empty left burner, then places the ball onto the left burner.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 617, "tasks": ["place ball"], "length": 113, "global_instruction": "Place the green spherical ball onto the empty left grey stove grate on the toy kitchen counter.", "scene_description": "A white toy kitchen countertop holds a green spherical ball, a pink heart-shaped toy, a small green cactus toy, an orange object in the sink, and two grey stove grates. The empty left grate sits between the sink and the right grate holding the pink toy, with the green ball between the two grates.", "global_instruction_dense": "The left robotic gripper moves downward toward the green ball on the toy kitchen counter, grasps it, lifts it, moves it left onto the empty grey stove grate, and releases it to rest on the grate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 618, "tasks": ["place ball"], "length": 148, "global_instruction": "Place the green ball from the play kitchen sink onto the empty right stove burner.", "scene_description": "A white play kitchen counter holds a green ball in its sink, a light blue cup on the left stove burner, a red squeeze bottle next to the cup, and an empty right stove burner. A black workbench with coiled grey cables is to the left of the play kitchen, and office furniture is in the background.", "global_instruction_dense": "The right robotic arm descends to the green ball in the play kitchen sink, grasps the ball, lifts it, moves it rightward above the empty right stove burner, lowers the ball, and releases it onto the burner.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 619, "tasks": ["place ball"], "length": 114, "global_instruction": "Move the green ball from the right burner grate of the toy kitchen station to the surface beside the cyan cup.", "scene_description": "A white toy kitchen station with a sink, faucet, and two metal burner grates sits on a workbench; a cyan cup rests on the left grate, a red bottle sits between the grates, a green ball rests on the right grate, with lab equipment and grey cables on the left of the station, and office furniture in the background.", "global_instruction_dense": "The right robotic arm enters from the top of the frame, moves down to grasp the green ball on the right burner grate of the toy kitchen station, lifts the ball, moves it leftward to the space next to the cyan cup, and releases it onto the kitchen station surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 620, "tasks": ["place ball"], "length": 117, "global_instruction": "Place the green ball from the toy kitchen countertop into the playset's sink.", "scene_description": "A white toy kitchen playset sits on a lab workbench, with a green ball, light blue cup, and red bottle placed on its countertop near the sink and stove burners, with office furniture in the background.", "global_instruction_dense": "The left robotic arm moves down to the green ball on the toy kitchen counter, grasps it, lifts it, moves it over the sink, lowers it, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 621, "tasks": ["place ball"], "length": 127, "global_instruction": "Take the green ball out of the toy sink and place it on the adjacent surface of the sink station.", "scene_description": "A white toy sink station is on a black perforated workbench, with a green ball inside its sink. A coiled grey cable sits on the left of the workbench, and office furniture is in the background.", "global_instruction_dense": "The left robotic arm moves down toward the green ball in the toy sink, grasps the ball, lifts it out of the sink, moves it to the flat surface next to the sink, and releases the ball onto this surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 622, "tasks": ["place ball"], "length": 110, "global_instruction": "Place the green ball next to the toy kitchen sink into the sink.", "scene_description": "A white toy kitchen station sits on a workbench, with a green ball next to its sink, a turquoise cup on the left stove burner, and an empty right stove burner.", "global_instruction_dense": "The left robotic arm descends toward the green ball next to the toy kitchen sink, grasps the ball, moves it into the sink, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 623, "tasks": ["place ball"], "length": 141, "global_instruction": "Take the green ball out of the red bowl and place it on the kitchen counter.", "scene_description": "A white play kitchen counter holds a silver sink, a blue bottle, a pink radish toy, and a red bowl with a green ball inside, with a small white fridge unit to the left of the counter.", "global_instruction_dense": "The right robotic arm moves over the red bowl, grasps the green ball inside it, lifts the ball out of the bowl, moves it to the adjacent counter surface, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 624, "tasks": ["place ball"], "length": 131, "global_instruction": "Remove the green ball from the red bowl and place it on the toy kitchen counter.", "scene_description": "A white toy kitchen counter holds a red bowl with a green ball inside, a blue bottle, a pink toy strawberry, a small green toy, and a sink basin on its surface.", "global_instruction_dense": "The left robotic arm moves toward the red bowl, grasps the green ball inside it, lifts the ball out of the bowl, moves it left onto the counter surface, and releases the ball there.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 625, "tasks": ["place ball"], "length": 122, "global_instruction": "Place the green ball into the red bowl", "scene_description": "A white toy kitchen table holds a silver sink, red bowl, green ball, small orange toy, and pink flower-shaped toy in a lab workspace.", "global_instruction_dense": "Left robotic arm moves toward the green ball on the white table, grasps it, lifts it, moves it over the red bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 626, "tasks": ["place ball"], "length": 141, "global_instruction": "Pick up the green ball inside the clear plastic bin and place it in a new position inside the bin.", "scene_description": "A clear rectangular plastic bin sits on a metal wire shelf. Inside the bin are a green ball, a light brown object, and a blue cube resting on a red plate, with an office workspace in the background.", "global_instruction_dense": "The left robotic gripper moves toward the green ball inside the clear plastic bin, grasps the ball, moves it to a different position inside the bin, then releases the ball.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 627, "tasks": ["place ball"], "length": 112, "global_instruction": "Place the small green ball into the red bowl inside the transparent plastic bin.", "scene_description": "A transparent plastic bin sits on a metal wire shelf. Inside the bin are a multicolored numbered cube and a red shallow bowl, with a robotic arm positioned to the left of the bin.", "global_instruction_dense": "The right robotic arm moves into the transparent plastic bin, grasps the small green ball, moves it over the red bowl inside the bin, then releases the ball into the red bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 628, "tasks": ["place ball"], "length": 110, "global_instruction": "Pick the green ball from the red bowl inside the storage bin and place it on the bin's grid floor.", "scene_description": "A clear plastic storage bin rests on a metal wire shelf in an office workspace. Inside the bin, a red shallow bowl contains a green ball, with a brown object also present in the bin.", "global_instruction_dense": "The right robotic gripper moves toward the green ball inside the red bowl in the storage bin, grasps the green ball, lifts it out of the bowl, moves it a short distance, and releases it onto the grid floor of the storage bin.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 629, "tasks": ["place ball"], "length": 111, "global_instruction": "Place the yellow ball into the red circular container in the plastic bin", "scene_description": "A transparent plastic bin on a metal shelf holds a red circular container, a yellow ball, and a multicolored cubic block. A white robotic arm is positioned above the bin, with an office lab workspace in the background.", "global_instruction_dense": "The right robotic arm moves toward a yellow ball in the plastic bin, grasps the ball, lifts it, moves it over the red circular container inside the bin, then releases the ball into the red container.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 630, "tasks": ["place ball"], "length": 140, "global_instruction": "Place a green ball into the transparent plastic bin beside the red bowl with the yellow ball.", "scene_description": "A transparent plastic bin on a metal wire shelf contains a red bowl holding a yellow ball. A white robotic arm is in the foreground, and cardboard boxes and a black bag with yellow text are to the right of the bin.", "global_instruction_dense": "The right robotic arm moves downward toward the transparent plastic bin, grasps and adjusts the position of the red bowl holding the yellow ball, places a green ball inside the bin next to the bowl, then moves away from the bin.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 631, "tasks": ["place ball"], "length": 122, "global_instruction": "Place the small green ball inside the red shallow bowl in the plastic bin.", "scene_description": "A clear plastic bin sits on a metal wire shelf in an office workspace, containing a multicolored cube, a red shallow bowl, and a small green ball.", "global_instruction_dense": "The right robotic arm moves toward the small green ball in the clear plastic bin, grasps the ball, lifts it, moves it over the red shallow bowl, lowers it, and releases it into the red bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 632, "tasks": ["place ball"], "length": 116, "global_instruction": "Remove the green ball from the red bowl and place it on the floor of the clear plastic container.", "scene_description": "A clear plastic container rests on a metal wire shelf. Inside the container: a red bowl holding a green ball, two stacked blocks (red lower, blue upper), and two light brown eggs. A white robotic arm is positioned to the left of the container.", "global_instruction_dense": "The right robotic arm moves toward the red bowl in the clear plastic container, grasps the green ball inside the bowl, lifts it out of the bowl, moves it leftward, and places it on the metal grid floor of the container.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 633, "tasks": ["place ball"], "length": 89, "global_instruction": "Pick up the brown football and place it on the right section of the metal wire shelf.", "scene_description": "A metal wire shelf holds a blue plastic bin with a small light blue cup inside, a brown football, and a white bowl with a green object inside. A robotic arm is positioned above the shelf, with office furniture and boxes in the background.", "global_instruction_dense": "The right robotic gripper moves down toward the brown football on the wire shelf, grasps and lifts it, moves it rightward across the shelf, then lowers and releases it onto the right section of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 634, "tasks": ["place ball"], "length": 138, "global_instruction": "Place the light brown ball on the wire shelf into the blue plastic container.", "scene_description": "A blue open plastic container, a round metal lid, a light brown ball, and a brown cardboard piece are placed on a metal wire shelf. The blue container is on the left of the shelf, the lid and ball are on the right of the container, the cardboard is at the far right of the shelf. Office furniture is visible in the background.", "global_instruction_dense": "Right robotic arm moves toward the light brown ball on the right section of the wire shelf, grasps it with its gripper, lifts it, moves it leftward over the blue plastic container, lowers it, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 635, "tasks": ["place ball"], "length": 92, "global_instruction": "Move the yellow ball from the right edge of the orange tool cabinet top to the left area of the tool cabinet top.", "scene_description": "An orange multi-drawer tool cabinet stands against a light brown wall, a yellow ball rests on its top right edge, a light grey plastic storage bin is left of the tool cabinet, a black perforated worktable with coiled grey cables and clamps is in the foreground, and camera equipment plus a red robotic arm are in the left background.", "global_instruction_dense": "The right robotic gripper enters the frame from the top right, moves down to grasp the yellow ball on the right edge of the orange tool cabinet, lifts the ball, moves it left across the tool cabinet top, and releases the ball onto the left area of the tool cabinet top.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 636, "tasks": ["place ball"], "length": 120, "global_instruction": "Take the green ball out of the cream bowl and place it on the metal wire shelf.", "scene_description": "A metal wire shelf in an office workspace holds a cream bowl with blue rim containing a green ball, a metal can, a loaf of bread, and a basket of rainbow-colored items, with office desks, chairs and a concrete pillar with a fire extinguisher in the background.", "global_instruction_dense": "The left robotic arm moves down to the cream bowl on the wire shelf, grasps the green ball inside the bowl with its gripper, lifts the ball out of the bowl, moves it over the adjacent shelf surface, and releases it onto the shelf.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 637, "tasks": ["place ball"], "length": 231, "global_instruction": "Take the yellow ball out of the metal pot and place it next to the green ball on the countertop.", "scene_description": "A toy kitchen setup is on a wooden countertop: a metal pot with a yellow ball inside sits on the left counter section, a green ball is next to the pot, a toy sink is in the center, and a toy gas stove is on the right section, with an office workspace in the background.", "global_instruction_dense": "The left robotic gripper moves toward the metal pot, grasps the yellow ball inside the pot, lifts it out, moves it rightward, and places it next to the green ball on the countertop.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 638, "tasks": ["place ball"], "length": 181, "global_instruction": "Place the yellow ball on the countertop to the area left of the silver metal pot.", "scene_description": "A toy kitchen countertop holds a silver metal pot, a green ball, and a yellow ball, with a sink, stovetop, open toy-filled drawer, and two teal planters behind it in an office setting.", "global_instruction_dense": "The left robotic arm descends toward the yellow ball on the countertop, grasps it with its gripper, lifts it, moves it left past the metal pot, and releases it onto the countertop next to the pot.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 639, "tasks": ["place ball"], "length": 129, "global_instruction": "Place the green round toy on the toy kitchen counter into the stainless steel toy pot.", "scene_description": "A toy kitchen counter holds a yellow round toy, a stainless steel toy pot, and a green round toy from left to right on its left section, a toy sink at the middle, a toy stove with a white pot on its right section, and an open drawer of small toys under the sink, in an office environment.", "global_instruction_dense": "The left robotic arm moves down toward the green round toy on the left section of the toy kitchen counter, grasps it, lifts it, moves leftward over the stainless steel toy pot, lowers it, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 640, "tasks": ["place ball"], "length": 212, "global_instruction": "Place the green ball on the kitchen counter into the stainless steel bowl.", "scene_description": "A wooden kitchen counter holds a green ball, yellow ball, brown round object, and stainless steel bowl. A sink with an orange cloth and gas stove are adjacent to the counter, with an office workspace in the background.", "global_instruction_dense": "The left robotic arm enters the scene from the upper left, moves to the green ball on the counter, grasps it, lifts it, moves it over the stainless steel bowl, and releases the ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 641, "tasks": ["place ball"], "length": 142, "global_instruction": "Pick the yellow ball from the drawer and place it on the wooden countertop.", "scene_description": "A play kitchen setup is visible: a wooden countertop holds a metal pot, green ball, and metal lid; an open drawer below holds multiple colorful toy balls; a toy sink, gas stove, two blue planters, and a hanging orange towel are to the right; a grey office chair with a cardboard box sits to the left, with an office lab in the background.", "global_instruction_dense": "The right robotic arm moves down to the open drawer of toy balls, grasps the yellow ball, lifts it, moves it over the left wooden countertop, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 642, "tasks": ["place ball"], "length": 238, "global_instruction": "Place the yellow ball on the left counter into the stainless steel pot on the gas stove", "scene_description": "A wooden kitchen counter holds a green ball, a yellow ball, and a small silver lid on its left section, a gray faucet sink and orange cloth in the center, and a gas stove with an empty stainless steel pot on its right section, in a lab workspace.", "global_instruction_dense": "The left robotic arm moves toward the yellow ball on the left counter, grasps the yellow ball with its gripper, lifts it, and moves it rightward over the stainless steel pot on the stove.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 643, "tasks": ["place ball"], "length": 186, "global_instruction": "Take the yellow ball from the stainless steel pot and place it on the left counter next to the toy sink.", "scene_description": "A toy kitchen setup is on a wooden tabletop: a stainless steel pot with a yellow ball inside rests on the right toy stove, a white toy faucet, orange cloth and assorted small toys are on the left counter, with an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves down toward the stainless steel pot on the toy stove, grasps the yellow ball inside the pot, lifts the ball out, moves left to above the left counter, releases the ball onto the counter, then lifts away from the surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 644, "tasks": ["place ball"], "length": 174, "global_instruction": "Place the yellow ball next to the sink into the stainless steel pot on the stove.", "scene_description": "A simulated kitchen counter setup has a stainless steel pot on a toy gas stove on the right, a yellow ball adjacent to the sink, an orange cloth inside the sink, small play items on the left wooden counter, and two blue storage bins mounted behind the sink.", "global_instruction_dense": "The left robotic arm moves down toward the yellow ball next to the sink, grasps the yellow ball, lifts it, moves it rightward over the stainless steel pot, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 645, "tasks": ["place ball"], "length": 194, "global_instruction": "Pick the yellow ball from the stainless steel pot and place it on the left wooden counter.", "scene_description": "A toy kitchen workspace is arranged with a stainless steel pot holding a yellow ball on the right stove section, a sink with an orange cloth below a white faucet, and a small wooden counter left of the sink holding a colorful cube, green ball, and small metal bowls, set in an office lab environment.", "global_instruction_dense": "The right robotic arm lowers toward the stainless steel pot on the stove, grasps the yellow ball inside the pot, lifts the ball out of the pot, moves it left across the workspace, and positions it above the small wooden counter next to the sink.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 646, "tasks": ["place ball"], "length": 172, "global_instruction": "Pick a yellow ball from the under-sink storage bin and place it on the left wooden counter.", "scene_description": "A toy kitchen setup is on a countertop: a stainless steel pot with a pink ball sits on a right-side stove, an orange cloth and grey faucet are at the center, an under-sink storage bin holds various toy fruits/balls including a yellow ball, a small wooden counter left of the sink holds a green cube toy, two metal bowls, and small green/yellow blocks, with a grey office chair and cardboard box at the far left, in an office lab background.", "global_instruction_dense": "The right robotic arm moves into view above the under-sink storage bin, lowers into the bin to grasp a yellow ball, lifts the ball up, moves it leftward over the small wooden counter to the left of the sink, then releases the yellow ball onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 647, "tasks": ["place ball"], "length": 96, "global_instruction": "Pick up the green ball on the left wooden counter and place it next to the small yellow cube.", "scene_description": "A mock kitchen counter setup: left wooden section holds a green ball, yellow ball, small yellow cube, and small metal bowl; right section has a gas stove with a stainless steel pot containing a pink ball, a grey sink faucet between the sections, with orange cloth under the sink and blue planters above, background is a lab/office space, no robotic arm is visible initially.", "global_instruction_dense": "The left robotic arm enters the workspace from the upper left, moves down to grasp the green ball on the left wooden counter, lifts it, moves rightward, places the green ball next to the small yellow cube, then releases it.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 648, "tasks": ["place ball"], "length": 212, "global_instruction": "Pick up the green ball from the left countertop and place it next to the purple ball near the stove.", "scene_description": "A toy kitchen setup is on a wooden countertop: left side has a yellow ball, green ball, metal bowl with a yellow cube, and silver lid; middle has a white sink with gray faucet, purple ball beside the faucet, and orange towel below the sink; right side has a toy stove with a stainless steel pot holding a purple toy vegetable, an orange starfish toy on the burner, and two blue storage bins behind the stove.", "global_instruction_dense": "The left robotic arm moves down toward the green ball on the left countertop, grasps it, lifts it, moves it right over the counter to the area near the stove, and releases it next to the purple ball.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 649, "tasks": ["place ball"], "length": 300, "global_instruction": "Pick the green toy ball from the lower cabinet and place it into the stainless steel pot on the toy stove.", "scene_description": "A toy kitchen setup sits on a wooden counter: a yellow lemon and silver lid are on the left, a gray faucet and purple toy ball are in the middle, a stainless steel pot with pink and green toys inside and an orange starfish toy are on the toy stove to the right; an open cabinet under the faucet holds an orange cloth and colorful toys, with an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves down toward the open lower cabinet, grasps the green toy ball inside the cabinet, lifts the ball upward, moves it over the stainless steel pot on the toy stove, and releases the green ball into the pot.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 650, "tasks": ["place ball"], "length": 133, "global_instruction": "Pick up the yellow ball on the left counter and place it into the open lower toy cabinet.", "scene_description": "A toy kitchen setup sits on a counter: a yellow ball is on the left wooden counter section, a silver bowl with a yellow cube is adjacent to it, a toy sink with a grey faucet is in the center, a small purple toy is next to the sink, a toy stove with a silver pot holding green and pink balls and an orange starfish toy on the burner is on the right, an orange towel hangs above the sink, and an open lower cabinet holds assorted toys.", "global_instruction_dense": "The left robotic arm moves toward the yellow ball on the left toy kitchen counter, grasps the ball, lifts it, moves it over the open lower cabinet, and releases the ball to drop it into the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 651, "tasks": ["place ball"], "length": 141, "global_instruction": "Place the purple ball from the metal pot into the toy kitchen's open lower drawer.", "scene_description": "A toy kitchen setup has a yellow-blue number 3 cube and metal pan lid on its left wooden counter, a grey toy sink faucet at the center, an open lower drawer holding assorted small toys, a metal pot with purple and green balls on the right stovetop next to a pink starfish toy, and an orange towel hanging on a rack above the sink.", "global_instruction_dense": "The right robotic arm moves down toward the metal pot on the toy stovetop, grasps the purple ball inside the pot, lifts it, moves it left over the open lower drawer, and releases the ball into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 652, "tasks": ["place ball"], "length": 190, "global_instruction": "Pick the green ball from the silver pot on the toy countertop and place it into the open drawer below the counter.", "scene_description": "A silver pot with a green ball and a pink ball inside sits on the right of a wooden toy kitchen countertop. A grey toy faucet is left of the pot, an orange towel hangs on a rack above the faucet, two blue bins are behind the faucet, a silver lid rests on the left counter section, and an open drawer below holds assorted toys, with an office workspace in the background.", "global_instruction_dense": "The left robotic arm moves down from above toward the silver pot on the toy countertop, grasps the green ball inside the pot, lifts the ball, moves it over the open drawer below the counter, then releases the green ball into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 653, "tasks": ["place ball"], "length": 169, "global_instruction": "Place the green ball from the open toy drawer into the right blue storage bin above the toy stove.", "scene_description": "A toy kitchen setup is present, with an open drawer below the gray faucet holding colorful toys including a green ball, yellow ball, and a cube marked '3'. To the right of the sink is a toy stove with a metal pot and pink octopus toy, the left wooden counter holds a small metal lid, an orange towel hangs above the sink area, two blue storage bins are positioned above the sink and stove, with an office environment in the background.", "global_instruction_dense": "The left robotic arm enters from the top left of the frame, moves down to the open drawer below the toy sink, grasps the green ball with its gripper, lifts the ball out of the drawer, and moves it over the right blue storage bin above the stove.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 654, "tasks": ["place ball"], "length": 215, "global_instruction": "Place the purple toy ball from the open drawer into the metal pot on the toy stove.", "scene_description": "A toy kitchen setup on a wooden counter: an open drawer under the gray sink holds yellow, green, purple, and orange toys; the right-side stove has a metal pot with green and pink balls; the left counter has a metal bowl, lid, yellow block, and blue box, with two blue bins and an orange towel above the sink, set in an office environment.", "global_instruction_dense": "The right robotic arm moves toward the open drawer under the toy sink, lowers into the drawer to grasp the purple ball, lifts the ball, moves it right over the metal pot on the stove, and releases the ball into the pot.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 655, "tasks": ["place ball"], "length": 171, "global_instruction": "Place the purple ball from the lower storage compartment into the stainless steel pot on the toy stove.", "scene_description": "A toy kitchen setup sits on a wooden countertop. The lower storage compartment under the gray faucet holds a purple ball, yellow ball, green blocks, and other small toys. A stainless steel pot with green and pink balls inside is on the right toy stove next to an orange starfish toy. The left counter area has a metal lid, yellow cube, and blue box, with an orange towel hanging on a rack above the setup, and an office space in the background.", "global_instruction_dense": "The left robotic arm moves toward the purple ball in the lower storage compartment of the toy kitchen, grasps the purple ball, lifts it, moves it over the stainless steel pot on the toy stove, and releases the purple ball into the pot.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 656, "tasks": ["place ball"], "length": 98, "global_instruction": "Place the purple ball from the metal pot on the toy stove into the open lower storage compartment.", "scene_description": "A toy kitchen setup is visible, with a metal pot holding purple, green and pink balls on the right wooden stove counter. An open lower storage compartment below the toy faucet holds colorful toy items, the left wooden counter has a metal lid and small toy blocks, and an orange towel hangs on a rack above the sink area.", "global_instruction_dense": "The right robotic arm moves toward the metal pot on the toy stove, grasps the purple ball inside the pot, lifts the ball, moves it over the open lower storage compartment, and releases the ball into the compartment.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 657, "tasks": ["place ball"], "length": 184, "global_instruction": "Pick the purple ball from the open under-sink cabinet and place it into the stainless steel pot on the toy stove.", "scene_description": "A toy kitchen setup is on a wooden countertop: an open under-sink cabinet holds toys including a purple ball, a stainless steel pot with green and pink balls sits on the toy stove, a colorful cube and metal lid are on the left counter, two blue bins and an orange hanging towel are behind the sink.", "global_instruction_dense": "The left robotic arm moves down toward the purple ball in the open under-sink cabinet, grasps it with its gripper, lifts it, moves it rightward over the stainless steel pot on the toy stove, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 658, "tasks": ["place ball"], "length": 251, "global_instruction": "Pick the purple ball from the metal pot and place it onto the orange cloth", "scene_description": "A toy kitchen counter setup: a metal pot with purple, green, pink balls sits on the toy stove, an orange cloth is placed left of the stove, a small metal bowl and a colorful cube marked '3' are on the left side table, two blue bins are positioned behind the toy sink with a grey faucet, and office workspaces are visible in the background.", "global_instruction_dense": "The right robotic arm moves down toward the metal pot on the toy stove, grasps the purple ball inside the pot, lifts the ball, moves it left over the orange cloth, and releases the purple ball onto the cloth.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 659, "tasks": ["place ball"], "length": 104, "global_instruction": "Place the purple ball from the silver pot on the toy stove into the open lower cabinet below the sink.", "scene_description": "A toy kitchen setup is placed on a table, with a silver pot holding a purple ball on the stove burner, an open lower cabinet containing toy food items below the sink, a printed number block and two small metal pans on the left wooden counter, and an orange towel hanging above the sink, with an office workspace in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the silver pot on the toy stove, grasps the purple ball inside the pot, lifts the ball, moves it left over the open lower cabinet, and releases it into the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 660, "tasks": ["place ball"], "length": 202, "global_instruction": "Place the green ball from the stainless steel pot into the toy kitchen's open lower cabinet.", "scene_description": "A toy kitchen setup sits on a wooden counter: a stainless steel pot on the stove holds green and pink balls, a toy sink with a gray faucet is left of the stove, a colorful cube and two small metal bowls are on the left counter, an orange cloth, yellow lemon, and yellow banana are in the open lower cabinet, with blue storage bins behind the setup in an office environment.", "global_instruction_dense": "The left robotic arm moves toward the stainless steel pot on the toy kitchen stove, grasps the large green ball inside the pot, lifts the ball, moves it left over the open lower cabinet of the toy kitchen, and releases the ball into the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 661, "tasks": ["place ball"], "length": 242, "global_instruction": "Pick up the purple toy ball from the sink compartment and place it on the left wooden counter.", "scene_description": "A toy kitchen setup is visible, with a sink compartment holding colorful toy balls below a grey faucet. An orange towel hangs on a bar above the sink. A metal pot sits on the toy stove to the sink's right, and a small metal lid plus a colorful box rest on the wooden counter to the sink's left, with an office workspace in the background.", "global_instruction_dense": "The left robotic arm enters from the top left of the scene, moves down to the sink compartment, grasps the purple toy ball with its gripper, lifts the ball out of the sink, moves it leftward over the left wooden counter, lowers the ball, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 662, "tasks": ["place ball"], "length": 167, "global_instruction": "Place the purple ball on the left side of the toy kitchen counter into the sink compartment below the faucet.", "scene_description": "A toy kitchen countertop has a purple ball atop a small box next to a small metal bowl on its left side, a sink area with multiple colorful toy balls below a gray faucet, and a stove with a metal pot and pink star-shaped toy on its right side; an office with seated people is in the background, and no robotic arm is visible in the frame.", "global_instruction_dense": "The left robotic arm enters the frame from the top left, moves toward the purple ball on the left section of the toy kitchen counter, grasps the purple ball, lifts it, moves it right over the sink compartment, and releases it to drop into the sink with other toy balls.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 663, "tasks": ["place ball"], "length": 196, "global_instruction": "Place the purple ball from the toy sink into the metal pot on the toy stove.", "scene_description": "A toy kitchen setup is on a wooden counter: a sink basin filled with colorful balls (yellow, purple, green, grey, orange) sits below a grey faucet, a metal pot rests on the toy stove to the sink's right, a small metal dish and a small printed box are on the counter left of the sink, and an orange towel hangs on a black rack above the setup, with an office workspace in the background.", "global_instruction_dense": "The left robotic arm enters the scene from the upper left, lowers to the sink basin to grasp the purple ball, lifts the ball, moves rightward over the metal pot on the stove, and releases the ball into the pot.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 664, "tasks": ["place ball"], "length": 157, "global_instruction": "Place the yellow ball on the left counter into the adjacent small metal bowl.", "scene_description": "A toy kitchen setup occupies a workspace, with a colorful cube, a yellow ball, and two small metal bowls on the left wooden counter. A toy sink with a grey faucet sits in the center below an orange towel hanging above two blue storage bins. A toy stove with a metal pot holding purple and pink toys is on the right counter, and a bin of colorful play food rests below the sink.", "global_instruction_dense": "Left robotic arm moves toward the yellow ball on the left toy kitchen counter, grasps it with its gripper, lifts it, moves it over the nearby small metal bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 665, "tasks": ["place ball"], "length": 144, "global_instruction": "Move the yellow spherical ball on the brown table to a position next to the red bell pepper.", "scene_description": "A brown wooden table holds a yellow spherical ball, yellow banana, red bell pepper, gray cylinder, and blue-white carton. A workbench below holds a metal pan, coiled black cables, yellow block, and red-buttoned yellow emergency stop device.", "global_instruction_dense": "The right robotic arm descends toward the yellow spherical ball on the brown table, grasps it, lifts it, moves it rightward and downward across the table, lowers it next to the red bell pepper, releases it, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 666, "tasks": ["place ball"], "length": 147, "global_instruction": "Place the yellow ball on the brown table into the silver dual-handle metal pot.", "scene_description": "A brown wooden table holds a yellow ball, gray cylinder, silver dual-handle metal pot, orange bell pepper, yellow banana, green cylinder, and blue-and-white carton, with a tool workbench in the foreground.", "global_instruction_dense": "The right robotic arm descends toward the yellow ball on the brown table, grasps it, lifts it, moves it over the silver metal pot, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 667, "tasks": ["place ball"], "length": 121, "global_instruction": "Place the yellow ball next to the gray cylinder on the wooden table.", "scene_description": "A brown wooden table holds a gray cylinder, a metal bowl with a green cylinder inside, a yellow banana, a yellow spherical ball, a white and blue carton, and a small brown object. A lower black workbench in the foreground holds assorted tools and small colorful objects.", "global_instruction_dense": "The right robotic arm moves toward the yellow ball next to the banana on the right side of the table, grasps the ball, lifts it, moves it left to the area next to the gray cylinder, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 668, "tasks": ["place ball"], "length": 106, "global_instruction": "Place the yellow ball on the brown table into the small silver metal bowl.", "scene_description": "A brown wooden table holds a yellow spherical ball, green small cylinder, blue-and-white rectangular carton, small silver metal bowl, and yellow banana-shaped toy arranged left to right on its surface, in a lab workspace with office chairs and boxes in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow ball on the brown table, grasps the ball with its gripper, lifts and moves it over the silver metal bowl, releases the ball into the bowl, then lifts away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 669, "tasks": ["place ball"], "length": 132, "global_instruction": "Take the yellow ball out of the metal bowl and place it on the brown table next to the yellow cube.", "scene_description": "A brown wooden table holds a small metal bowl with a yellow ball inside, a blue-and-white carton, a yellow banana, a yellow cube, and a green cylinder, with a tool workbench in the foreground and office furniture in the background.", "global_instruction_dense": "The right robotic arm descends toward the metal bowl on the brown table, grasps the yellow ball inside the bowl, lifts the ball, moves it right to the area near the yellow cube, lowers the ball onto the table surface, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 670, "tasks": ["place ball"], "length": 151, "global_instruction": "Move the yellow ball from the right of the sanitizer bottle to the left of the sanitizer bottle on the toy kitchen top.", "scene_description": "A small white toy kitchen with an open cabinet sits behind a black perforated workbench. A blue-and-white sanitizer bottle and a yellow ball are on the toy kitchen top, with the ball to the right of the bottle. The workbench holds tools, cables, a yellow cube, a gray cylinder, and colorful toy objects, with office chairs and cluttered desks in the background.", "global_instruction_dense": "The right robotic gripper approaches the yellow ball on the right side of the sanitizer bottle on the toy kitchen, grasps and lifts it, moves it left to the position left of the sanitizer bottle, lowers it onto the kitchen top, releases the ball, then lifts away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 671, "tasks": ["place ball"], "length": 130, "global_instruction": "Pick the yellow ball from the top of the toy fridge and place it back onto the top of the toy fridge.", "scene_description": "A black perforated worktable holds a white toy kitchen set (with fridge unit, sink, and two gas burners), a yellow cube, gray cylinder, orange wedge, toy red pepper, toy yellow banana, purple toy item, coiled cables, and a yellow emergency stop box with an orange button. A yellow ball rests on top of the toy fridge, and the background is a cluttered workshop with office chairs, tables, and cardboard boxes.", "global_instruction_dense": "The right robotic gripper moves toward the yellow ball resting on top of the toy fridge, grasps it, lifts it into the air, adjusts its position, then lowers and releases it back onto the top of the toy fridge.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 672, "tasks": ["place ball"], "length": 142, "global_instruction": "Move the yellow ball on the right end of the toy kitchen top to the center of the toy kitchen's top surface.", "scene_description": "A white toy kitchen set with an open left cabinet door, sink, and stove burners sits on a black workbench. A yellow ball rests on the right end of the toy kitchen's top surface. The workbench also holds a yellow cube, grey cylinder, orange toy pepper, yellow banana toy, purple cylinder, coiled black cables, and a yellow emergency stop box with a red button, with office chairs and desks in the background.", "global_instruction_dense": "The right robotic arm extends toward the yellow ball on the right end of the toy kitchen's top surface, grasps the ball with its gripper, lifts it slightly, moves it leftward to the center of the toy kitchen's top surface, lowers it, and releases it in the new position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 673, "tasks": ["place ball"], "length": 173, "global_instruction": "Move the yellow ball on the white toy kitchen cabinet to a new position on the same cabinet surface.", "scene_description": "A white toy kitchen unit sits on a black workbench, a yellow ball, green cylinder, and blue-and-white box rest on the kitchen's upper cabinet surface, with various tools, blocks, and wires placed on the workbench in front, and office furniture visible in the background.", "global_instruction_dense": "The right robotic gripper moves toward the yellow ball on the white toy kitchen's upper surface, grasps the ball, shifts it to a new forward position on the cabinet, then releases the ball and retracts.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 674, "tasks": ["place ball"], "length": 107, "global_instruction": "Move the yellow ball from the left side of the toy kitchen top to the right side of the same top surface.", "scene_description": "A white toy kitchen playset with a sink and gas burners sits beside a black perforated workbench in a lab space. A yellow ball, green cylindrical object, and small yellow object rest on the toy kitchen's upper cabinet top. The workbench holds assorted items including a yellow cube, gray cylinder, orange pepper-shaped toy, purple cylinder, red cylinder, orange triangular part, and a yellow box with a red emergency stop button, with office chairs and cluttered desks visible in the background.", "global_instruction_dense": "The right robotic arm moves down toward the yellow ball on the left side of the toy kitchen top, grasps it, lifts it, moves it horizontally right to the opposite side of the toy kitchen top, then places and releases it there.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 675, "tasks": ["place ball"], "length": 137, "global_instruction": "Grasp the yellow ball on top of the toy kitchen playset, lift it, and place it back onto the playset top.", "scene_description": "A toy kitchen playset with a yellow spherical ball on its upper fridge section sits on a black perforated workbench. The workbench holds items including a red pepper toy, purple cylinder, yellow block, gray cylinder, clamps, coiled cables, and a yellow emergency stop with a red button. Office chairs and work desks are in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow ball resting on top of the toy kitchen playset, grasps the ball with its gripper, lifts it briefly, lowers it back to its original position on the playset top, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 676, "tasks": ["place ball"], "length": 189, "global_instruction": "Place the yellow ball onto the top of the toy kitchen fridge unit.", "scene_description": "A white and grey toy kitchen set (with fridge, sink, and stove burners) sits on a black perforated workbench. A yellow ball rests on a table surface behind the toy kitchen, alongside an orange bottle, yellow blocks, a green block, and a small white box. The workbench foreground holds tools including clamps, a red toy pepper, a purple cylinder, coiled cables, and a yellow emergency stop button with a red top. Office chairs and worktables with assorted supplies are visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow ball located behind the toy kitchen set, grasps it, lifts it, moves it forward over the top of the toy fridge, and releases it to place it on the fridge top.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 677, "tasks": ["place ball"], "length": 100, "global_instruction": "Move the large yellow ball from the left end of the toy cabinet top to its right end.", "scene_description": "A white toy kitchen cabinet stands on a workbench, with a large yellow ball, small yellow ball, white block, yellow block, and green cylinder arranged on its top surface, and tools and components on the foreground workbench.", "global_instruction_dense": "The right robotic gripper lowers toward the large yellow ball at the left of the toy cabinet top, grasps it, lifts and moves it right across the cabinet top, then releases it near the green cylinder at the cabinet's right end.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 678, "tasks": ["place ball"], "length": 178, "global_instruction": "Place the green ball on the metal wire shelf next to the red-blue patterned box at the shelf's right edge.", "scene_description": "A metal wire shelf holds a green ball, light pink double-handle bowl, yellow corn-shaped toy, orange sushi-shaped toy, assorted colorful toy food items, and a red-blue patterned box, set in an office space with concrete pillars, office computers, and chairs in the background.", "global_instruction_dense": "Left robotic arm moves toward the green ball on the metal wire shelf, grasps it with its gripper, lifts it, moves it right to the shelf edge next to the red-blue patterned box, lowers it, and releases it at the target position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 679, "tasks": ["place ball"], "length": 107, "global_instruction": "Place the green ball on the metal shelf into the light pink bowl", "scene_description": "A metal wire shelf holds a green ball, a light pink bowl, a green cube with red top, a yellow corn-shaped toy, and other small play items, in an office with concrete pillars and workstations in the background.", "global_instruction_dense": "The right robotic arm lowers toward the green ball on the wire shelf, grasps it, lifts it, positions it over the adjacent light pink bowl, then releases the ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 680, "tasks": ["place ball"], "length": 185, "global_instruction": "Take the green ball out of the pink bowl and place it on the metal wire shelf.", "scene_description": "A metal wire shelf holds a pink bowl with a green ball inside, a colorful patterned cube, and assorted toy food items, set in an office workspace with desks and monitors in the background.", "global_instruction_dense": "The right robotic arm moves toward the pink bowl on the wire shelf, grasps the green ball inside the bowl, lifts the ball out of the bowl, moves it to an empty spot on the shelf, and releases it onto the shelf surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 681, "tasks": ["place ball"], "length": 128, "global_instruction": "Place the green ball into the pink bowl on the wire shelf", "scene_description": "A metal wire shelf holds a light pink shallow bowl, a green spherical toy, a yellow corn-shaped toy, and other small colorful toys, with an office environment including monitors, chairs, and a concrete pillar in the background.", "global_instruction_dense": "The right robotic arm lowers toward the green ball on the wire shelf, grasps the ball, lifts it, moves it over the pink bowl, and releases it to drop the ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 682, "tasks": ["place ball"], "length": 126, "global_instruction": "Place the green ball from the pink bowl onto the adjacent wire shelf surface.", "scene_description": "A metal wire shelf holds a light pink bowl with a green ball inside, plus a yellow corn toy, a colorful cubic toy, and other small toys.", "global_instruction_dense": "The right robotic arm moves toward the pink bowl on the metal wire shelf, grasps the green ball inside the bowl, lifts the ball out of the bowl, moves it to the empty shelf space beside the bowl, lowers the ball onto the shelf, releases the gripper, and lifts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 683, "tasks": ["place ball"], "length": 183, "global_instruction": "Take the green ball out of the pink bowl and place it on the adjacent wire shelf surface.", "scene_description": "A metal wire shelf holds a pink bowl with a green ball inside, a yellow toy corn, a colorful square toy with an orange top, and small colorful toys below the main shelf. The background is an office space with a concrete pillar, desks, monitors, and a grey storage bin on the right.", "global_instruction_dense": "The right robotic arm descends toward the pink bowl on the wire shelf, grasps the green ball inside the bowl, lifts the ball, moves it to an empty spot on the shelf next to the bowl, and releases it to rest on the shelf.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 684, "tasks": ["place ball"], "length": 152, "global_instruction": "Move the green ball from the right side of the metal shelf to the left side of the shelf.", "scene_description": "A green rounded ball, a pink bowl holding a yellow item, and a colorful box toy with an orange top are placed on a metal wire shelf, with an office area containing desks, monitors, and a concrete pillar in the background.", "global_instruction_dense": "The right robotic gripper moves toward the green ball on the right part of the metal wire shelf, grasps the ball, lifts it, moves it leftward to the left part of the shelf, lowers it, releases it onto the shelf, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 685, "tasks": ["place ball"], "length": 513, "global_instruction": "Place the green ball into the pink bowl on the wire shelf.", "scene_description": "A metal wire shelf in an office setting holds a pink bowl with an orange-and-white toy slice inside, a green ball, a yellow corn-shaped toy, and a multicolored cubic toy. Office desks, monitors, and a concrete pillar with a fire extinguisher are in the background.", "global_instruction_dense": "The right robotic gripper first removes the orange toy slice from the pink bowl and places it on the wire shelf, then grasps the green ball, lifts it, and places it into the pink bowl, then attempts to grasp the multicolored cubic toy, and finally moves the yellow corn toy to the right side of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 686, "tasks": ["place ball"], "length": 149, "global_instruction": "Pick up the orange-white ball on the metal shelf and place it to the left of the pink bowl.", "scene_description": "A metal wire shelf in an office holds a pink bowl with a green ball, a yellow object, an orange-white ball, and a cube marked with number 3.", "global_instruction_dense": "The right robotic gripper moves down toward the orange-white ball on the metal shelf, grasps it, lifts it, moves it leftward to the area left of the pink bowl, then lowers and releases it onto the shelf.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 687, "tasks": ["place ball"], "length": 145, "global_instruction": "Pick the green ball from the pink bowl and place it on the adjacent wire shelf surface.", "scene_description": "A metal wire shelf holds a pink bowl containing a green ball, a yellow bar-shaped object, a colorful cubic block, and other small items in an office background with desks and monitors.", "global_instruction_dense": "The right robotic arm moves down toward the pink bowl on the wire shelf, grasps the green ball inside the bowl, lifts it out of the bowl, moves it to the empty shelf space next to the bowl, lowers and releases the ball onto the shelf, then lifts upward away from the placed ball.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 688, "tasks": ["place ball"], "length": 133, "global_instruction": "Place the green ball from the right of the bowl onto the shelf left of the bowl.", "scene_description": "A light brown bowl, green round ball, yellow bar-shaped toy, and other small toys sit on a metal wire shelf. The green ball is to the right of the bowl, which holds a red illustrated card and a green number '3' token. The background is an office with desks, monitors, and a concrete pillar with a mounted fire extinguisher.", "global_instruction_dense": "The right robotic gripper moves down toward the green ball on the right side of the bowl, grasps the ball, lifts it, moves it to the area left of the bowl, lowers it, and releases it onto the shelf left of the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 689, "tasks": ["place ball"], "length": 124, "global_instruction": "Place the green ball on the wire shelf into the pink bowl", "scene_description": "A metal wire shelf holds a yellow corn toy, a colorful numbered cube, a green ball, a pink shallow bowl, and small toys, in an office with a concrete pillar and background workstations.", "global_instruction_dense": "The left robotic arm moves toward the green ball on the wire shelf, grasps it with its gripper, lifts it, moves it over the pink bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 690, "tasks": ["place ball"], "length": 147, "global_instruction": "Pick up the green ball on the wire shelf and place it next to the yellow elongated toy.", "scene_description": "A metal wire shelf holds a green ball, a pink bowl with an orange object inside, a blue-topped green-sided cube toy, and a yellow elongated toy, with an office space including a concrete pillar and desks in the background.", "global_instruction_dense": "The left robotic arm moves into view above the wire shelf, lowers to grasp the green ball near the pink bowl, lifts the ball, moves it right across the shelf, and releases it next to the yellow elongated toy.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 691, "tasks": ["place ball"], "length": 132, "global_instruction": "Place the green ball on the wire shelf into the pink shallow bowl.", "scene_description": "A metal wire shelf holds a multicolored cubic block, a pink shallow bowl, an orange-white slice toy, a yellow banana-shaped toy, and a green ball, set in an office workspace with concrete pillars, desks, monitors and office equipment in the background.", "global_instruction_dense": "The right robotic arm descends toward the green ball on the right of the wire shelf, grasps it with its gripper, lifts it, moves it left above the pink shallow bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 692, "tasks": ["place ball"], "length": 140, "global_instruction": "Pick up the yellow ball on the table and place it into the white bowl.", "scene_description": "A white bowl and a small yellow ball are placed on a brown wooden table, the yellow ball is to the left of the bowl, in an office workshop workspace.", "global_instruction_dense": "The left robotic arm moves down toward the yellow ball on the left side of the bowl, grasps the ball, lifts it, moves it right over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 693, "tasks": ["place ball"], "length": 136, "global_instruction": "Pick the yellow ball and place it into the white bowl on the wooden table.", "scene_description": "A white plastic bowl rests on a reddish-brown wooden table. A yellow spherical object is positioned behind the bowl next to a cardboard and wood partition, with office workstations, chairs, and miscellaneous items visible in the background.", "global_instruction_dense": "The left robotic arm extends toward the yellow ball behind the white bowl, grasps the ball, lifts it, moves it over the white bowl, and releases the ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 694, "tasks": ["place ball"], "length": 114, "global_instruction": "Place the purple ball on the table into the white bowl.", "scene_description": "A white bowl and a purple ball are placed on a reddish-brown wooden table, with the purple ball to the left of the white bowl.", "global_instruction_dense": "The right robotic gripper moves toward the purple ball on the left side of the white bowl, grasps the purple ball, lifts it, moves it over the white bowl, and releases it to drop the ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 695, "tasks": ["place ball"], "length": 129, "global_instruction": "Place the purple ball into the white bowl on the table.", "scene_description": "A white bowl and a purple textured ball are placed on a reddish-brown wooden table. The bowl is on the left of the table, and the ball is on the right.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the right side of the wooden table, grasps it with its gripper, lifts it, moves it left over the white bowl, then lowers and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 696, "tasks": ["place ball"], "length": 116, "global_instruction": "Place the purple ball on the wooden table into the white bowl", "scene_description": "A white bowl and a small purple bumpy ball are placed on a brown wooden tabletop. The bowl is on the left side of the table, and the ball is on the right side.", "global_instruction_dense": "The right robotic gripper moves down toward the purple ball on the right side of the wooden table, grasps the ball, lifts it, moves it leftward over the white bowl, then releases the ball to drop it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 697, "tasks": ["place ball"], "length": 223, "global_instruction": "Pick up the purple ball and place it into the white bowl on the table", "scene_description": "A purple textured ball and a white plastic bowl are placed on a reddish-brown wooden table in a lab workspace, with the purple ball to the left of the white bowl.", "global_instruction_dense": "The robotic gripper moves toward the purple ball on the left of the wooden table, grasps it, lifts it, moves it right over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 698, "tasks": ["place ball"], "length": 166, "global_instruction": "Pick up the purple ball and place it into the white bowl", "scene_description": "A white bowl and a purple ball are placed on a brown wooden table. The bowl is on the left side of the table, and the purple ball is on the right side.", "global_instruction_dense": "The right robotic arm moves toward the purple ball on the right of the wooden table, grasps the ball with its gripper, lifts it, moves it left over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 699, "tasks": ["place ball"], "length": 191, "global_instruction": "Pick the golden decorative balls from the stove burner and place them into the steel bowl in the sink.", "scene_description": "A toy kitchen countertop has four black stove burners, a metal sink with a stainless steel bowl inside, two golden decorative balls rest on the leftmost stove burner, a robotic arm is positioned above the counter, and a person sits to the left of the kitchen set.", "global_instruction_dense": "The right robotic arm moves down toward the golden decorative balls on the left stove burner, grasps the balls, lifts them, moves right over the stainless steel bowl in the sink, and releases the balls into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 700, "tasks": ["place ball"], "length": 248, "global_instruction": "Pick the metal ball from the small open stainless steel pot and place it into the closed stainless steel pot.", "scene_description": "A white round table holds stacked red bowls, a light brown egg, a red-handled fork, a gray cup, and three stainless steel containers including a small open pot with a metal ball inside. A robotic arm is positioned to the left of the table, with a person in blue and a whiteboard in the background.", "global_instruction_dense": "The right robotic gripper moves toward the small open stainless steel pot on the table, grasps the metal ball inside it, lifts the ball, moves it to the closed stainless steel pot, and places the ball inside the pot.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 701, "tasks": ["place ball"], "length": 177, "global_instruction": "Place the green ball from the front red bowl onto the checkered tabletop", "scene_description": "A round table with a red and black checkered tablecloth holds a front red bowl with a green fluffy ball, a silver metal bowl with an egg, three loose eggs next to the silver bowl, a green bottle, and a second red bowl on the far right. A robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the green ball in the front red bowl, grasps the ball, lifts it out of the bowl, moves it to the table surface next to the bowl, and releases the ball onto the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 702, "tasks": ["place ball"], "length": 168, "global_instruction": "Place the small green ball on the checkered table into the silver metal bowl", "scene_description": "A table covered with red and black checkered tablecloth holds a silver metal bowl, a transparent egg tray with three eggs, a white mug, two red bowls (one with an egg, one with a pink bag), and a small green ball. A Franka Emika robotic arm is positioned on the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the small green ball on the table, grasps it with its gripper, lifts the ball, moves it over the silver metal bowl, lowers and releases the ball into the bowl, then lifts away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 703, "tasks": ["place ball"], "length": 456, "global_instruction": "Place the small orange ball on the table into the open blue box.", "scene_description": "A white round table holds a red bowl, a dark gray cup, a small orange ball, a small green object, a white cloth, and an open blue illustrated box; a robotic arm is positioned above the table, with the robot base on the left of the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the small orange ball on the table, grasps the ball, lifts it, moves rightward to position over the open blue box, lowers the ball, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 704, "tasks": ["place ball"], "length": 188, "global_instruction": "Take the small white ball out of the dark blue cup and place it on the white table.", "scene_description": "A dark blue cup with a small white ball inside is placed at the center of a white table, with a right robotic gripper positioned near the window above the table.", "global_instruction_dense": "The right robotic gripper moves toward the dark blue cup on the center of the white table, reaches inside the cup to grasp the small white ball, lifts the ball out of the cup, moves to the right of the cup, and releases the ball onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 705, "tasks": ["place ball"], "length": 146, "global_instruction": "Remove the white ball from the dark green mug and place it on the white table.", "scene_description": "A dark green mug containing a small white ball is placed on a white table, with a robotic arm positioned above the table.", "global_instruction_dense": "The left robotic gripper moves down toward the dark green mug on the white table, enters the mug to grasp the white ball inside, lifts the ball out of the mug, moves the ball to the empty area of the table beside the mug, lowers the ball, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 706, "tasks": ["place ball"], "length": 201, "global_instruction": "Pick up the green tennis ball at the rear of the desk and place it on the front part of the desk", "scene_description": "A white desk sits next to a window with white horizontal blinds. On the desk are assorted pens and markers, two small purple bowls, a green and yellow pen holder, small yellow balls, and a green tennis ball at the rear of the desk near the window ledge. A robotic arm is positioned above the rear desk area.", "global_instruction_dense": "The right robotic arm lowers toward the green tennis ball at the rear of the desk, grasps the ball with its gripper, lifts and moves the ball forward over the front section of the desk, then releases the ball onto the desk surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 707, "tasks": ["place ball"], "length": 397, "global_instruction": "Pick up the pink ball on the cabinet top and place it at another position on the same cabinet top.", "scene_description": "A small pink ball rests on the top of a white glass-fronted cabinet, a right robotic arm is positioned to the right of the cabinet, a vintage lamp and colorful small decorations are on the left of the cabinet top, and a window with white blinds is behind the cabinet with one door open.", "global_instruction_dense": "The right robotic arm moves left toward the pink ball on the white cabinet top, grasps the ball, lifts it briefly, then lowers and places it at a slightly shifted position on the cabinet top before moving upward away from the surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 708, "tasks": ["place ball"], "length": 423, "global_instruction": "Move the yellow-green tennis ball from the cabinet top to the inner shelf, then return it to the cabinet top.", "scene_description": "A white cabinet with an open glass door, a yellow-green tennis ball, a brass lamp with a yellow shade, and small colorful decorative items are placed on the cabinet top. Various items including a yellow plush duck and boxes are stored on the cabinet's inner shelves, and a robotic arm is positioned near the window with white blinds above the cabinet.", "global_instruction_dense": "The right robotic arm moves toward the yellow-green tennis ball on the cabinet top, grasps it, lowers it into the left inner shelf of the cabinet, releases it, then re-grasps it, lifts it back up to the cabinet top, and releases it there.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 709, "tasks": ["place ball"], "length": 854, "global_instruction": "Place the green ball and the yellow bowl into the pink bowl on the table.", "scene_description": "A dark brown table sits adjacent to a large surface covered in tan fabric. On the table, there is a small green ball, a small pink bowl, a small yellow bowl, a white cloth, orange produce, and a black rectangular object. Three framed pictures hang on the light grey background wall, a doorway leads to another room, a kitchen area is visible to the right, and a robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the green ball on the table, grasps it, lifts it, moves it over the pink bowl and releases it inside, then moves to the yellow bowl, grasps it, lifts it, moves it over the pink bowl and releases it inside, before moving back to a position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 710, "tasks": ["place ball"], "length": 246, "global_instruction": "Take the green ball out of the pink container and place it on the table near the yellow container.", "scene_description": "A wooden table is partially covered by a beige towel. On the uncovered table area, a small pink container, a small yellow container, an orange toy car, and a white tissue are placed. A robotic arm is positioned at the upper right of the scene, with framed pictures on the left wall and a wooden chair at the left side of the table.", "global_instruction_dense": "The right robotic arm moves toward the pink container on the table, grasps the green ball inside the container, lifts the green ball, moves it to the area near the yellow container, then releases the green ball onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 711, "tasks": ["place ball"], "length": 714, "global_instruction": "Place the green spiky ball from the yellow cup into the pink bowl", "scene_description": "A wooden table with beige cloths on its ends holds a pink small bowl, white napkin, yellow cup topped with a green spiky ball, light yellow rabbit figurine, orange toy, and black clamp covered by a transparent plastic cover. Multiple doorways lead to background rooms including a kitchen.", "global_instruction_dense": "The right robotic arm enters the frame, moves the transparent plastic cover and black clamp aside, grasps the green spiky ball from the top of the yellow cup, carries it left over the pink bowl, and releases it into the pink bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 712, "tasks": ["place ball"], "length": 332, "global_instruction": "Take the green spiky ball from the pink pot and place it into the yellow bowl", "scene_description": "A wooden table has a pink pot with a green spiky ball on the left cloth area, a yellow bowl on the right, plus small figurines, tissues, a white box and a black clamp.", "global_instruction_dense": "The right robotic arm moves down to grasp the green spiky ball in the pink pot, lifts it out, moves it right over the yellow bowl, lowers it, releases it into the bowl and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 713, "tasks": ["place ball"], "length": 477, "global_instruction": "Place the green tennis ball near the pink and yellow plastic cups on the table.", "scene_description": "A wooden table holds a green tennis ball, a small solid green ball, an orange toy car, a light green rabbit figurine, a white book, a yellow plastic cup, a pink plastic cup, a white tissue pack, and a glass with green liquid. A right robotic arm extends into the frame from the upper right.", "global_instruction_dense": "The right robotic arm moves from the upper right toward the green tennis ball on the wooden table, pushes the tennis ball across the table, adjusts its position, and finally places the green tennis ball near the pink and yellow plastic cups at the front of the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 714, "tasks": ["place ball"], "length": 204, "global_instruction": "Place the green tennis ball next to the orange toy car on the table.", "scene_description": "A wooden table partially covered with a tan cloth holds a green tennis ball, small pink bowl, small yellow bowl, tiny green ball, white tissue pack, book, and orange toy car, with a robotic gripper positioned above the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the green tennis ball on the table, grasps it, lifts it, moves it horizontally toward the orange toy car, lowers it, and releases it next to the toy car.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 715, "tasks": ["place ball"], "length": 133, "global_instruction": "Place the small green ball into the yellow plastic bowl on the table.", "scene_description": "A dark brown wooden table holds a small green ball, yellow plastic bowl, pink plastic bowl, white marker, orange toy car, light brown block, green tennis ball, paper, clear glass, and brown cloths. A right robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves down toward the small green ball on the table, grasps it, lifts it, moves left over the yellow bowl, lowers it, releases the ball into the bowl, then lifts upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 716, "tasks": ["place ball"], "length": 165, "global_instruction": "Place the green tennis ball onto the tan cloth at the back of the table.", "scene_description": "A wooden tabletop holds a green tennis ball, a small green bowl, crumpled white napkins, small coins, a white card, and tan cloths spread across parts of the table, with a robotic arm positioned at the top right of the initial frame.", "global_instruction_dense": "The right robotic arm moves down toward the green tennis ball on the front of the wooden table, grasps the ball, lifts it, moves it backward over the tan cloth at the back of the table, lowers the ball, releases it onto the cloth, and lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 717, "tasks": ["place ball"], "length": 174, "global_instruction": "Place the green tennis ball on the wooden table into the clear plastic container.", "scene_description": "A dark wooden table holds a green tennis ball, small yellow bowl, orange toy car, clear plastic container, green tube, small white card, two coins and a cloth. A white Franka Emika robotic arm is positioned to the right of the table, with a mounted camera on a stand behind it. Two doorways are in the background, one leading to a kitchen where a person in black clothing stands.", "global_instruction_dense": "The right robotic arm moves down toward the green tennis ball on the table, grasps it with its gripper, lifts it, moves it over the clear plastic container, releases the ball into the container, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 718, "tasks": ["place ball"], "length": 179, "global_instruction": "Pick a yellow-green tennis ball from the transparent cup and place it back into the cup.", "scene_description": "A dark wooden table holds a transparent plastic cup with yellow-green tennis balls, a green marker, white cloth, small orange items, and a small green bowl. A robotic arm is on the right side of the table with its gripper raised, a door is on the left, and a kitchen is visible in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the transparent plastic cup, grasps a yellow-green tennis ball inside the cup, lifts the ball out of the cup, then releases the ball back into the cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 719, "tasks": ["place ball"], "length": 227, "global_instruction": "Place the yellow tennis ball into the clear plastic cup on the table", "scene_description": "A dark wooden table holds a clear plastic cup, a crumpled white cloth, a green marker, and a yellow-green tennis ball near the front edge. A white Franka robotic arm is positioned on the right side of the table with its gripper retracted.", "global_instruction_dense": "The right robotic arm extends from its retracted position, moves toward the yellow tennis ball, grasps and lifts it, moves it over the clear plastic cup, releases the ball into the cup, then lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 720, "tasks": ["place ball"], "length": 313, "global_instruction": "Move the green tennis ball from the far end of the table to the left side of the table.", "scene_description": "A beige cloth-covered table holds a yellow cylinder, a patterned plush item, a white card, two small silver coins, a green tennis ball near a dark tray at its far end. A white Franka robotic arm is positioned to the right of the table, with closed doors and a lit doorway in the background.", "global_instruction_dense": "The right robotic arm moves toward the green tennis ball at the far end of the table, grasps it with its gripper, lifts it, moves it left across the table surface, and releases it onto the left section of the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 721, "tasks": ["place ball"], "length": 363, "global_instruction": "Pick up the green tennis ball from the table and place it near the dark tray.", "scene_description": "A dark wooden table partially draped with a light beige cloth holds a yellow ball on the left, a green tennis ball, a patterned snack packet, a white cloth, and a dark tray. A white robotic arm is mounted on the right side of the table.", "global_instruction_dense": "The right robotic arm moves left toward the green tennis ball on the table, grasps it with its gripper, lifts and moves the ball to the area near the dark tray, lowers it, releases it onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 722, "tasks": ["place ball"], "length": 470, "global_instruction": "Pick up the green tennis ball from the black tray and place it on the beige table surface.", "scene_description": "A beige cloth-covered table holds a yellow round object, a patterned white bag, a glass, a small white paper, two silver coins, and a black tray with a green tennis ball. A white robotic arm is positioned to the right of the table, with wall decor and doorways to other rooms in the background.", "global_instruction_dense": "The right robotic arm moves toward the green tennis ball on the black tray, grasps it with its gripper, lifts and moves it over the table, lowers the ball, places it on the table surface, and releases its gripper.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 723, "tasks": ["place ball"], "length": 697, "global_instruction": "Place the yellow tennis ball into the transparent plastic cup on the wooden tabletop.", "scene_description": "A dark wooden tabletop holds a light gray cloth, a small white square card, and two metal rivets. A Franka robotic arm is positioned above the right side of the table, with doorways and people visible in the distant background.", "global_instruction_dense": "The right robotic arm moves downward toward the table, grasps a yellow tennis ball, lifts it, moves it over the transparent plastic cup on the table, lowers it, releases it into the cup, then returns to a resting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 724, "tasks": ["place ball"], "length": 261, "global_instruction": "Place the yellow tennis ball from the counter onto the dark candlestick holder on the rear ledge", "scene_description": "A white countertop sits under a window with white horizontal blinds. On the counter: a light yellow bunny figurine is at the left, followed by a black pen, clear plastic container with green liquid, small brown block, yellow plastic bowl, green marker, yellow tennis ball, small orange toy car, and two small black screws at the front. A rear ledge behind the counter holds a purple cloth, yellow flowers, and dark candlestick holders. A white robotic arm is positioned on a wooden workbench to the right of the counter.", "global_instruction_dense": "The left robotic arm moves leftward and downward toward the yellow tennis ball on the counter, grasps it with the gripper, lifts it, moves it leftward to the rear ledge, lowers it onto the dark candlestick holder, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 725, "tasks": ["place ball"], "length": 294, "global_instruction": "Place a yellow-green tennis ball onto the top of the clear glass jar on the counter", "scene_description": "A white countertop sits below a window. On the counter: a yellow rabbit plush, green dry-erase marker, black pen, clear glass jar, small green ball, orange toy car, yellow bowl, small brown pieces, and tiny black parts are arranged left to right. Two yellow-green tennis balls sit on stands at the rear of the counter, and a white robotic arm is positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward a yellow-green tennis ball on a rear counter stand, grasps it with its gripper, lifts and moves it over the clear glass jar on the counter, lowers it onto the jar's opening, releases the ball, and retracts upward away from the jar.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 726, "tasks": ["place ball"], "length": 509, "global_instruction": "Place the green ball into the yellow cup", "scene_description": "A white countertop below a window holds a beige rabbit figurine with pink ears, green dry-erase marker, black pen, white tissue, two green tennis balls, a yellow cup covering a green ball on a brown block, an orange toy car, small dark fasteners, and a white robotic arm at the counter's right end.", "global_instruction_dense": "The right robotic gripper first lifts the yellow cup to expose the green ball underneath, grasps the green ball, moves it over the yellow cup, and releases it into the cup before moving away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 727, "tasks": ["place ball"], "length": 266, "global_instruction": "Pick up the yellow tennis ball on the left section of the counter and place it in front of the clear glass on the counter.", "scene_description": "A white countertop holds a yellow bowl, a pink bowl with a yellow rabbit figurine, a green spiky ball, a white cloth, a yellow tennis ball, a clear glass, a green marker, and an orange toy car arranged left to right. A Franka robotic arm is positioned to the right of the counter next to a blue laptop, with window blinds in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow tennis ball on the left part of the counter, grasps it with its gripper, lifts the ball, moves it to the area in front of the clear glass, lowers and releases it onto the counter, then moves away from the placed ball.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 728, "tasks": ["place ball"], "length": 293, "global_instruction": "Pick up the yellow tennis ball and place it on top of the orange toy car.", "scene_description": "A white countertop adjacent to a window with horizontal blinds holds, from left to right, a yellow rabbit figurine, a yellow and purple cup, a plastic bottle, a small brown block, a yellow tennis ball, a black marker, and an orange toy car. A white robotic arm is mounted on a wooden table to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the yellow tennis ball on the counter, grasps it with its gripper, lifts it, positions it over the orange toy car, lowers it onto the car, releases the ball, then moves upward as the ball rolls off the car onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 729, "tasks": ["place ball"], "length": 356, "global_instruction": "Move the purple bowl from the stacked bowls next to the tennis ball, then place the small green ball from the bowl further right on the counter.", "scene_description": "A white countertop below windows holds stacked yellow and purple bowls with a small green ball inside the purple bowl, a pale yellow rabbit figurine, a green tennis ball, a dark candlestick, and an orange toy car, with a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The left robotic gripper moves toward the stacked yellow and purple bowls, grasps the upper purple bowl, lifts and places it next to the tennis ball, then grasps the small green ball from the purple bowl, lifts and places it on the counter near the candlestick, before retracting upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 730, "tasks": ["place ball"], "length": 363, "global_instruction": "Move the green tennis ball from behind the black C-clamp to the counter near the orange toy car.", "scene_description": "A white countertop next to windows with trees outside holds a black C-clamp, a green tennis ball behind the clamp, a purple bowl, a yellow bowl, an orange striped toy car, a small brown wooden bowl, a light yellow plush toy near the edge, and a clear glass. A robotic arm base is on the far right.", "global_instruction_dense": "The right robotic arm moves left across the counter to the green tennis ball behind the C-clamp, grasps and lifts the ball, moves right to the area near the orange toy car, lowers the ball, releases it onto the counter, then lifts the gripper away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 731, "tasks": ["place ball"], "length": 499, "global_instruction": "Pick up the green tennis ball from its black stand and place it beside the black C-clamp on the left side of the counter.", "scene_description": "A white countertop adjacent to a window holds a black C-clamp (leftmost), a brown wooden bowl, a purple small bowl, a yellow small bowl, an orange striped toy car, a green tennis ball mounted on a black stand, and a light yellow plush toy at the counter edge, with a robotic arm positioned at the upper right of the scene.", "global_instruction_dense": "The right robotic arm moves from its upper right starting position toward the green tennis ball on the black stand, grasps the tennis ball, lifts it, moves left across the counter to the area beside the black C-clamp, lowers the ball, and releases it next to the clamp.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 732, "tasks": ["place ball"], "length": 370, "global_instruction": "Place the yellow tennis ball onto the black stemmed pedestal stand on the countertop.", "scene_description": "A white countertop holds a black stemmed pedestal stand, a brown polygonal object, two white cylindrical tubes, and purple and yellow storage containers below windows with tree views, with a living area visible through a background doorway.", "global_instruction_dense": "The left robotic arm moves downward to grasp a yellow tennis ball, moves the ball over the black stemmed pedestal stand, lowers the ball onto the stand, releases the ball, and lifts upward away from the stand.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 733, "tasks": ["place ball"], "length": 140, "global_instruction": "Place the yellow tennis ball into the clear plastic container on the white table.", "scene_description": "A white table holds a purple bowl, a yellow bowl, a black ornate metal object, a small black clamp, a clear plastic container, a yellow tennis ball, and a small brown wooden block arranged left to right, with a robotic arm at the right end of the table and a living room in the background.", "global_instruction_dense": "The right robotic arm moves left toward the yellow tennis ball on the table, grasps it, lifts it, moves it over the clear plastic container, releases it into the container, then moves upward away from the container.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 734, "tasks": ["place ball"], "length": 210, "global_instruction": "Remove the tennis ball from the transparent cup and place it on the white cloth on the table.", "scene_description": "A white table next to a window with horizontal blinds holds a purple bowl, yellow bowl, black patterned decorative object, small black stand, transparent cup containing a yellow-green tennis ball, and a white cloth. A robotic arm is positioned at the upper right of the frame, with a living area visible in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the transparent cup, grasps the yellow-green tennis ball inside it, lifts the ball out of the cup, moves it over the white cloth on the table, lowers and releases the ball onto the cloth, then lifts upward away from the cloth.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 735, "tasks": ["place ball"], "length": 180, "global_instruction": "Place the yellow tennis ball from the upper ledge onto the adjacent window sill.", "scene_description": "A yellow tennis ball sits on an upper white ledge beside stacked books and a white cloth, below the ledge a white table holds a beige rabbit figurine, orange toy car, purple and yellow small cups, green fuzzy balls, and a clear plastic bowl, with a window with blinds to the left and a right robotic arm above the ledge.", "global_instruction_dense": "The right robotic arm moves downward to grasp the yellow tennis ball on the upper white ledge, lifts the ball, moves it left to the window sill, releases it onto the sill, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 736, "tasks": ["place ball"], "length": 184, "global_instruction": "Pick up the green spiky ball from the lower counter and place it into the purple bowl on the window sill.", "scene_description": "A white two-tiered counter sits under a window with horizontal blinds. On the lower counter: a beige rabbit figurine, an orange tiger-shaped toy car, a small yellow cup, a clear plastic bowl, a small green spiky ball, and two black candle holders. On the window sill above: a bright purple bowl and a yellow-green tennis ball, with a white robotic arm with black gripper positioned above the upper ledge.", "global_instruction_dense": "The right robotic arm moves downward from above the upper ledge toward the green spiky ball on the lower counter, grasps the ball with its black gripper, lifts it up to the window sill, releases the ball into the purple bowl, then retracts upward away from the sill.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 737, "tasks": ["place ball"], "length": 156, "global_instruction": "Take the green spiky ball out of the pink bowl and place it on the white tabletop.", "scene_description": "A white tabletop holds a yellow tennis ball, a pink small bowl with a green spiky ball inside, an orange toy car, a yellow small cup, and two beige rabbit figurines. A mirror reflecting the objects is on the left of the table, a window with blinds is above the table, and part of a robotic arm is visible at the top of the frame.", "global_instruction_dense": "The left robotic arm moves downward toward the pink bowl holding the green spiky ball, grasps the green spiky ball, lifts it out of the bowl, moves it leftward, lowers it onto the tabletop, releases the ball, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 738, "tasks": ["place ball"], "length": 174, "global_instruction": "Relocate the green tennis ball on the cabinet top to a leftward position on the same cabinet.", "scene_description": "A white glass-door cabinet stands next to a window with white blinds. On the cabinet top, there is a gray cloth, a brown woven basket, stacked books, a green tennis ball, and a yellow flower bouquet. A black robotic gripper is at the top right edge of the frame, and a fixed black camera is mounted on the right wall.", "global_instruction_dense": "The right robotic gripper moves down and left from the top right of the frame toward the green tennis ball on the cabinet top, grasps the ball, lifts it, moves it left to a new position on the cabinet, releases the ball, and lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 739, "tasks": ["place ball"], "length": 405, "global_instruction": "Place the yellow-green tennis ball from the cabinet top into the open cabinet interior.", "scene_description": "On top of a white cabinet with an open glass front door, an orange toy car, brown woven basket, stacked books, a yellow-green tennis ball, and a vase of yellow flowers are arranged, with a robotic arm positioned to the right of the cabinet.", "global_instruction_dense": "The right robotic arm moves toward the yellow-green tennis ball on the cabinet top, grasps and lifts the ball, moves it down into the open cabinet, adjusts its position, releases the ball, then retracts out of the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 740, "tasks": ["place ball"], "length": 445, "global_instruction": "Take the green tennis ball from inside the cabinet and place it on top of the cabinet.", "scene_description": "An open white glass-door cabinet is in the foreground. Inside the cabinet, a yellow rabbit figurine and a green tennis ball rest on the lower shelf. On top of the cabinet, an orange toy car, a brown woven basket, stacked books, and a yellow flower vase are arranged. A robotic arm is positioned to the right of the cabinet.", "global_instruction_dense": "The right robotic arm moves toward the interior of the open white cabinet, grasps the green tennis ball inside, lifts the ball out of the cabinet, moves it upward to the cabinet's top surface, places the ball on the surface, then releases the ball and moves away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 741, "tasks": ["place ball"], "length": 645, "global_instruction": "Lift the lime green ball from the cabinet top, move it, and place it back on the cabinet top.", "scene_description": "A white cabinet with an open glass door is present, with a yellow rabbit figurine on its inner shelf. On top of the cabinet, there are an orange toy car, a brown woven basket, a green marker, stacked books, a lime green ball, a pink cup, a yellow cup, and a vase of yellow flowers, with a right robotic arm at the upper right of the view.", "global_instruction_dense": "The right robotic arm moves toward the lime green ball on top of the white cabinet, grasps it, lifts it, moves it over the cabinet surface, lowers it, and releases it back onto the cabinet top.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 742, "tasks": ["place ball"], "length": 467, "global_instruction": "Place the green tennis ball on the top of the white cabinet next to the yellow flower vase.", "scene_description": "A white cabinet with an open glass door is in the foreground. On the cabinet's top surface, from left to right: an orange and green toy car, stacked books, a brown woven basket, and a vase of yellow flowers. An empty left robotic gripper is positioned at the top right of the view.", "global_instruction_dense": "The left robotic arm moves toward the yellow flower vase on the cabinet top while holding a green tennis ball, positions the ball over the empty spot on the cabinet top next to the vase, lowers the ball onto the cabinet, releases it, and moves away.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 743, "tasks": ["place ball"], "length": 153, "global_instruction": "Pick up the yellow tennis ball on the cabinet and place it into the black dish.", "scene_description": "A yellow tennis ball sits next to stacked boxes on a white glass-paneled cabinet top, with a black dish to the right of the ball, a vase of yellow flowers behind the boxes, a green bottle and white tissues to the left of the boxes near a window with blinds.", "global_instruction_dense": "The right robotic arm moves from the top right toward the yellow tennis ball on the white cabinet, grasps the tennis ball, lifts it, moves it over the black dish, and releases it into the dish.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 744, "tasks": ["place ball"], "length": 386, "global_instruction": "Place the yellow tennis ball into the black tray on the white countertop.", "scene_description": "A white countertop holds a small yellow cup, stacked board game boxes, a black rectangular tray, and a vase of yellow flowers next to a window with white horizontal blinds; a white slatted rack with white cloths leans against the wall beside the counter, and a camera is mounted on the right wall.", "global_instruction_dense": "The right robotic arm enters the frame from the top, grasps a yellow tennis ball, moves it over the black tray on the countertop, releases the ball into the tray, then retracts out of the visible frame.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 745, "tasks": ["place ball"], "length": 168, "global_instruction": "Pick the yellow tennis ball from the black tray and place it on the adjacent white countertop", "scene_description": "A white countertop holds a clear plastic cup, orange storage box, stacked board game boxes, a small bright yellow cup, and a black rectangular tray holding a yellow tennis ball. A vase with yellow and white flowers stands left of the tray next to a window with white blinds, a white rack with a draped white cloth is below the counter, and a camera on a black arm mount is fixed to the right wall.", "global_instruction_dense": "The right robotic arm extends downward toward the black tray on the counter, grasps the yellow tennis ball inside the tray, lifts the ball, moves it a short distance left onto the counter surface, releases the ball, then retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 746, "tasks": ["place ball"], "length": 166, "global_instruction": "Place the small green ball from the red mat into the open microwave.", "scene_description": "A silver open microwave with a green indicator light sits on the left of a white countertop, a white bowl rests on top of the microwave, a red circular mat with a small fuzzy green ball on it is in front of the microwave, and a green plastic bottle is positioned to the right of the mat.", "global_instruction_dense": "The right robotic arm moves toward the small green ball on the red mat, grasps it with its gripper, lifts it, moves left to position it inside the open microwave, releases the ball, then retracts from the microwave.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 747, "tasks": ["place ball"], "length": 234, "global_instruction": "Grasp the cluster of brown wooden balls on the cabinet countertop and place it back on the countertop.", "scene_description": "A white cabinet with glass doors sits below a window. On the cabinet countertop, there is a cluster of brown wooden balls, a clear glass holding a yellow-green ball, several dark books leaning against the left wall, and a white brick wall to the right. A black robotic gripper is at the right edge of the countertop.", "global_instruction_dense": "The right robotic gripper moves left from the right edge of the cabinet countertop to the cluster of brown wooden balls, grasps the cluster, lifts and adjusts its position, lowers the cluster back onto the countertop, releases it, and retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 748, "tasks": ["place ball"], "length": 398, "global_instruction": "Move the small metallic disk on the wooden table to a new position on the same table.", "scene_description": "A wooden dining table holds a white plate, an open wooden crate, a small metallic disk, a black cup, a metal decorative stand, paper napkins, and a small clear container. A white Franka Emika robotic arm with orange bands is positioned on the right edge of the table, with a living room visible through a white-framed doorway in the background.", "global_instruction_dense": "The right robotic arm moves toward the small metallic disk on the wooden table, grasps it with its gripper, lifts the disk, moves it to a new position above the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 749, "tasks": ["place ball"], "length": 344, "global_instruction": "Pick up the yellow tennis ball from the couch and place it into the red tray on the couch.", "scene_description": "A dark brown couch sits in front of large windows with horizontal blinds, a white robotic arm with red straps on its segments is positioned to the right of the couch, a small yellow lamp is near the window, a white door with a semicircular yellow window is in the background, and a red tray rests on the couch.", "global_instruction_dense": "The right robotic arm lowers its gripper toward the yellow tennis ball on the dark couch, grasps the ball, moves it leftward over the red tray, and releases the ball into the tray.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 750, "tasks": ["place ball"], "length": 406, "global_instruction": "Place small silver metal discs into the open white toaster oven using the orange-handled tool.", "scene_description": "A dark brown table holds an open white toaster oven on the left, multiple small silver metal discs and an orange-handled metal tool in the center, and a black keyboard behind the tool. A movable left robotic arm is positioned above the table, a fixed right robotic arm base with green lights sits on the table's right edge, and a living area with a gray couch is visible in the background.", "global_instruction_dense": "The left robotic arm moves downward to grasp the orange-handled metal tool on the dark brown table, uses the tool to pick up small silver metal discs from the table, moves each disc over the open white toaster oven and drops it inside, then places the tool back onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 751, "tasks": ["place ball"], "length": 189, "global_instruction": "Pick up the yellow tennis ball from the table and place it on top of the white microwave.", "scene_description": "A wooden table holds a white microwave, yellow-green tennis ball, black keyboard, silver mouse, black cup, and red plastic bowl. A grey metallic stand is left of the microwave, with a robotic arm in the upper right area.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow tennis ball on the wooden table, grasps it, lifts it, moves it over the top of the white microwave, lowers and releases the ball onto the microwave, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 752, "tasks": ["place ball"], "length": 269, "global_instruction": "Place the yellow tennis ball from the top of the open microwave into the microwave's interior.", "scene_description": "A wooden desk holds an open white microwave with a yellow tennis ball on its top, a black keyboard, silver wired mouse, red bowl, and a grey-black stand on the left; camera rigs are at the desk's right, and a background room with white cabinets and chairs is visible.", "global_instruction_dense": "The right robotic arm moves toward the yellow tennis ball on top of the open white microwave, grasps the ball, moves it into the microwave's inner space, releases it, then retracts away from the microwave.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 753, "tasks": ["place ball"], "length": 192, "global_instruction": "Place the yellow-green tennis ball on the table inside the white toaster oven.", "scene_description": "A wooden table holds a white toaster oven, a yellow-green tennis ball, a black keyboard, a dark purple mug resting on the toaster oven, and small items like a silver mouse and red bowl, with a white robotic arm in the upper right background and a white dresser with wooden chairs in the far background.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow-green tennis ball on the table, grasps it, lifts it, moves it to the opening of the white toaster oven, places the ball inside the toaster oven, then retracts upward away from the toaster oven.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 754, "tasks": ["place ball"], "length": 418, "global_instruction": "Pick up the yellow tennis ball on the table and place it into the small black bowl.", "scene_description": "A wooden table partially covered with a light brown towel holds various items including a black keyboard, black computer mouse, green tube, yellow tennis ball, small black bowl, striped cloth, and white desk speakers, with a white robotic arm positioned above the right side of the table, and a white cabinet and small microwave in the background.", "global_instruction_dense": "The right robotic gripper moves toward the yellow tennis ball on the table, grasps it, lifts the ball, moves it over the small black bowl on the towel, lowers the ball, and releases it into the black bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 755, "tasks": ["place ball"], "length": 518, "global_instruction": "Place the yellow tennis ball into the white fluted bowl", "scene_description": "A wooden table partially covered with a beige cloth holds various objects including a white fluted bowl, yellow tennis ball, black keyboard, black mouse, pink-and-white striped cloth, green packaging tube, small black measuring cup, and other small items. In the background, a white toaster oven, white drawer cabinets with glass doors under a window, and a wooden chair are visible, with a robotic arm at the upper right edge of the frame.", "global_instruction_dense": "The right robotic arm first moves to the white fluted bowl on the table, grasps and repositions it on the beige cloth, then moves to the yellow tennis ball, grasps it, and places it inside the repositioned white fluted bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 756, "tasks": ["place ball"], "length": 206, "global_instruction": "Pick the yellow tennis ball from the clear glass and place it into the black pen cup.", "scene_description": "A wooden tabletop holds a yellow tennis ball resting on a clear glass, a red plastic bowl, a white fluted paper plate, a black pen cup, white headphones, an orange-handled spatula, and a white toaster oven on the left edge. White glass-front cabinets line the wall behind the table, and a robotic arm is partially visible at the upper right of the frame.", "global_instruction_dense": "The right robotic arm extends from the upper right of the frame toward the yellow tennis ball on the clear glass, grasps the tennis ball, lifts it, moves it over the black pen cup, and releases it to drop into the pen cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 757, "tasks": ["place ball"], "length": 302, "global_instruction": "Place the yellow tennis ball from the black container onto the small clear glass on the table.", "scene_description": "A wooden table holds a small clear glass, a black container with a yellow tennis ball on its top, a white shell-shaped dish, a red plastic bowl, and a white microwave on the table's left edge, with white storage cabinets in the background behind the table.", "global_instruction_dense": "The right robotic arm moves toward the small clear glass on the table, adjusts the glass's position, moves toward the yellow tennis ball resting on the black container, grasps and lifts the tennis ball, moves it over the clear glass, lowers it, and releases it to rest on top of the glass.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 758, "tasks": ["place ball"], "length": 168, "global_instruction": "Place the yellow tennis ball resting on the clear cup into the black mug", "scene_description": "A wooden tabletop holds a white toaster oven on the far left, a black mouse, crumpled white cloth, red plastic bowl, small grey bottle, two small black round objects, a blue and white dish with a small white object, a white shell-shaped dish with green packets, a black mug, a clear plastic cup topped with a yellow tennis ball, and a beige towel spread across the table's right half holding a small metal figurine, metal spoon, and cable. The background has a white glass-fronted cabinet under a window, a wooden chair with striped cushion, and camera rigs on the right.", "global_instruction_dense": "The right robotic arm moves in from the upper right toward the yellow tennis ball on the clear cup, grasps the tennis ball with its gripper, lifts it, moves it over the adjacent black mug, and releases it to drop into the mug.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 759, "tasks": ["place ball"], "length": 903, "global_instruction": "Use the blue measuring scoop to transfer the yellow-green tennis ball into the red bowl, then place the empty scoop on the table.", "scene_description": "A wooden table holds a central gray metal fixture, a blue measuring scoop, a yellow-green tennis ball, a red bowl with white filling, a black mug, a small black pan, a blue tape roll, a silver shaker, a green cloth, white headphones, a pink patterned cloth, a black wired device, and a keyboard. A white toaster oven sits at the far left of the table, white cabinets are in the background behind the table, and a tan blanket covers the right portion of the table.", "global_instruction_dense": "The left robotic gripper grasps the blue measuring scoop on the table, positions the scoop to lift the yellow-green tennis ball, moves the scoop holding the ball over the red bowl, tilts the scoop repeatedly to drop the ball into the bowl, then moves the empty scoop to the right side of the table and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 760, "tasks": ["place ball"], "length": 631, "global_instruction": "Scoop the green ball from the red bowl and place it on the table surface next to the bowl.", "scene_description": "A wooden table holds a red bowl with white lining, a light blue small container, a book, a black keyboard, white headphones, a silver spoon, and a white toaster oven in the background, with a robotic arm's gripper inside the red bowl initially.", "global_instruction_dense": "The right robotic gripper first lifts away from the red bowl, grasps the light blue small container on the table, moves it into the red bowl to scoop the green ball inside, lifts the container with the ball, moves it to the left side of the table, tilts the container to drop the green ball onto the table, then places the empty blue container near the metallic frame on the table before retracting.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 761, "tasks": ["place ball"], "length": 195, "global_instruction": "Move the green ball on the table to a position near the white plate.", "scene_description": "A dining table with a lemon-patterned tablecloth holds a white plate, black saucepan, keyboard, purple box, small pink object, green ball, and printed mug. Wooden chairs surround the table, a right robotic arm is positioned to the table's right, and floral curtains cover back wall windows.", "global_instruction_dense": "The right robotic arm moves toward the green ball near the printed mug on the table, grasps it with its gripper, lifts it, moves leftward across the table, and releases it onto the table near the white plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 762, "tasks": ["place ball"], "length": 818, "global_instruction": "Move the green tennis ball onto the white plate after relocating the mug that rests on the plate.", "scene_description": "A table with a lemon-patterned tablecloth holds a black keyboard, a white orange-flower-printed mug (with a spoon inside) on a white plate, a green tennis ball, a silver purple-topped snack package, an orange-handled screwdriver, a small purple container, white paper sheets, and three light brown wooden chairs against a wall with floral curtains and framed art; a white and black robotic arm is positioned at the top right of the scene.", "global_instruction_dense": "The right robotic arm first adjusts the plate and snack package positions, lifts the printed mug off the plate and places it on the adjacent table, moves the green tennis ball onto the now empty plate, then moves a small blue cup to a new spot on the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 763, "tasks": ["place ball"], "length": 194, "global_instruction": "Pick up the yellow tennis ball from the upper shelf rack and place it on the lower level of the same black shelf.", "scene_description": "A black metal storage shelf sits on a beige cloth-covered table. The shelf's upper rack holds gray sneakers, a light green cloth, and a yellow tennis ball on a blue rack. To the left of the shelf, a wooden table holds silver sneakers, white papers, a pink plaid cloth, a green tube, and small black objects. A right robotic arm is positioned at the upper right, with a white cabinet, windows, and a wooden chair in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow tennis ball on the upper blue rack of the black shelf, grasps the ball, lifts and moves it downward to the lower shelf level, releases the ball onto the lower shelf, then retracts upward away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 764, "tasks": ["place ball"], "length": 325, "global_instruction": "Place the yellow tennis ball on the metal rack into the wicker basket at the far end of the rack.", "scene_description": "A black metal wire rack is at the center of the indoor room, a yellow tennis ball rests on the right section of the rack, a wooden table with papers and small items is to the left of the rack, and a white cabinet under a window is in the background.", "global_instruction_dense": "The right robotic arm enters from the top right of the frame, moves toward the yellow tennis ball on the black metal rack, grasps the ball, lifts it, moves it to the wicker basket at the far end of the rack, releases the ball into the basket, then moves away from the basket.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 765, "tasks": ["place ball"], "length": 207, "global_instruction": "Place a yellow tennis ball into the light brown straw hat", "scene_description": "A light brown straw hat is on the left of a brown fabric-covered table, two light blue plastic clothes hangers rest on the table right of the hat, and a white cabinet with decorations is in the background.", "global_instruction_dense": "The right robotic arm moves to grasp a yellow tennis ball, carries it over the opening of the light brown straw hat on the table, releases the ball into the hat, then moves back away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 766, "tasks": ["place ball"], "length": 239, "global_instruction": "Place the yellow tennis ball into the black mug on the black metal rack", "scene_description": "A black metal rack sits on a wooden table. On the rack: a black mug with a white rim, a red-and-white checkered cloth, and a pair of blue-and-white sneakers at the rack's rear. To the left of the rack on the table are a white-red lid, a green cloth, and a white ring. A white dresser with decor is in the background, with an adjacent room with wooden chairs visible to the right.", "global_instruction_dense": "The right robotic gripper grasps a yellow tennis ball, moves it leftward over the black mug on the metal rack, lowers the ball, releases it into the mug, then retracts away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 767, "tasks": ["place ball"], "length": 370, "global_instruction": "Place the yellow tennis ball on the desk into the upper empty shelf compartment of the desk hutch.", "scene_description": "A wooden desk with an upper hutch of empty shelves holds a crayon box, remote controls, headphones, a yellow tennis ball, orange toy car, red ring, and papers. A bed with blue striped bedding sits to the desk's right.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow tennis ball on the desk, grasps it, lifts it, moves it left to the upper empty hutch shelf compartment, inserts it into the compartment, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 768, "tasks": ["place ball"], "length": 212, "global_instruction": "Pick the yellow tennis ball from the desk shelf cubby and place it on the wooden desk surface.", "scene_description": "A wooden desk holds a black mouse, a remote control on white paper, an orange toy car, a yellow-green box, and an orange-handled spatula. A yellow tennis ball sits in an upper cubby of the desk's wooden shelf unit. A bed with striped bedding and yellow/orange pillows is to the desk's right, with a robotic arm positioned near the bed.", "global_instruction_dense": "The left robotic arm moves toward the yellow tennis ball in the desk's upper shelf cubby, grasps the ball, lifts it out of the cubby, moves it above the desk surface, and releases it to place the ball on the desk.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 769, "tasks": ["place ball"], "length": 291, "global_instruction": "Place the yellow discs on the table into the white paper cup", "scene_description": "A light brown wooden table holds a blue vertical grid rack, a red disc, a black disc, two yellow discs, a white paper cup, and a long white paper strip. A window with white blinds is behind the table, a black desk lamp is at the left table edge, and a robotic arm is at the right of the table.", "global_instruction_dense": "The right robotic arm sequentially grasps the two yellow discs on the table, lifts each disc, moves it above the white paper cup, and drops each disc into the cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 770, "tasks": ["place ball"], "length": 365, "global_instruction": "Place the yellow disc from the table onto the blue dish rack", "scene_description": "A light brown wooden table is positioned in front of a window with white blinds. A black desk lamp is on the left of the table. On the table, there is a blue dish rack with a white cloth draped over it, a white paper cup, two books, multiple colored discs (yellow, red, black), and a robotic arm is at the right side of the scene.", "global_instruction_dense": "The right robotic arm moves down toward the yellow disc on the wooden table, grasps the disc, lifts it, moves it over the blue dish rack near the window, releases the disc to place it on the rack, then moves upward away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 771, "tasks": ["place ball"], "length": 458, "global_instruction": "Place a yellow circular disc into the blue perforated rack on the wooden table.", "scene_description": "A wooden table holds a white indented tray, a blue perforated rack, and red, orange, yellow, black circular discs, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves down to grasp a yellow circular disc from the table, lifts and carries it toward the blue perforated rack, releases the disc into the rack, then moves away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 772, "tasks": ["place ball"], "length": 756, "global_instruction": "Place a yellow disc into the blue vertical grid board on the table.", "scene_description": "A white table sits against a light-colored wall. On the table, there is a blue vertical Connect 4-style grid board near the center-right, light letter tiles on the left, yellow, red, and black round discs on the right, a white speaker, a black remote, and a clear plastic bottle, with a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves down toward the yellow discs on the right of the table, grasps a yellow disc with its gripper, lifts the disc, moves it above the blue grid board, releases the disc to drop it into a hole in the grid, then moves away from the board.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 773, "tasks": ["place ball"], "length": 475, "global_instruction": "Place a red circular disc onto the top of the blue tower-shaped stand.", "scene_description": "A white table sits against a pale wall. On the table, there is a blue vertical tower-shaped stand, two red circular discs, one black circular disc, scattered white letter tiles, a white speaker, a black rectangular device, and a clear plastic bottle. No robotic arm is visible initially.", "global_instruction_dense": "The right robotic arm enters the frame from the top right, moves toward a red circular disc on the white table, grasps it, lifts it, aligns it with the top of the blue stand, places the disc onto the stand, then releases the disc and lifts away from the stand.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 774, "tasks": ["place ball"], "length": 674, "global_instruction": "Place the red circular disc on the table onto the top of the blue vertical stand.", "scene_description": "A light beige wall stands behind a white table. On the table, there is a black power cable, several off-white letter tiles, a blue vertical stand, a red circular disc, a small black circular object, a white rectangular speaker, and a small brown object.", "global_instruction_dense": "The right robotic arm enters the scene from the upper right, moves toward the red disc on the table, grasps and lifts it, moves it over to the blue vertical stand, lowers it onto the stand's top, adjusts the disc's position, then releases it and moves away from the stand.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 775, "tasks": ["place ball"], "length": 437, "global_instruction": "Place a black circular disc into the vertical blue connect four game board.", "scene_description": "A white table against a light wall holds a vertical blue connect four board, four black circular discs to the right of the board, alphabet tiles to the left of the board, and a right robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves toward the black discs on the table, grasps one black disc, lifts it, moves it to the top of the blue connect four board, releases the disc into a top slot of the board, then moves away from the board.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 776, "tasks": ["place ball"], "length": 414, "global_instruction": "Rearrange the orange discs on the desk, then place one orange disc into the blue basket on the desk shelf.", "scene_description": "A dark brown wooden desk has four small orange circular discs on its flat surface, a white spotted cup on its left open shelf, a blue plastic basket next to the cup, black wires and a red flat tool on its upper raised surface, with a white robotic arm positioned on the desk's right side.", "global_instruction_dense": "The right robotic arm moves toward the orange discs on the wooden desk, pushes the discs to rearrange their positions, picks up one orange disc, moves to the blue basket on the desk's left shelf, places the disc into the basket, then moves back above the desk surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 777, "tasks": ["place ball"], "length": 301, "global_instruction": "Place an orange disc from the desk into the blue plastic crate", "scene_description": "Three small orange round discs, a white polka-dot cup, a blue plastic crate, black wires, and a red flat tool are arranged on a dark wooden desk, with a robotic arm positioned to the right of the desk.", "global_instruction_dense": "The right robotic arm moves toward the orange discs on the desk, grasps the closest orange disc, lifts it, moves it left over the blue crate, releases the disc into the crate, then moves back to the right side of the desk.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 778, "tasks": ["place ball"], "length": 324, "global_instruction": "Pick up the small red disc on the desk and place it into the blue plastic basket", "scene_description": "A dark brown wooden desk has a small red disc on its flat surface, a blue plastic basket near the desk edge, a white dotted cup in the desk's open compartment, and black wires, a red tool, a red mouse on the desk top, with a robotic arm positioned to the right of the desk.", "global_instruction_dense": "The right robotic arm moves downward toward the small red disc on the desk surface, grasps it with its gripper, lifts it, moves it to the blue plastic basket, releases the disc into the basket, then moves away from the basket.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 779, "tasks": ["place ball"], "length": 150, "global_instruction": "Pick up the small beige ball from the storage box and place it into the gray fabric bag.", "scene_description": "A bed with white floral bedspread and two white pillows is against a yellow wall. A clear plastic storage box holding a brown paper bag, open brown box, and small beige ball sits next to the bed near a window, with a gray fabric bag beside the storage box. A robotic arm is positioned above the storage box.", "global_instruction_dense": "The right robotic gripper moves down into the clear plastic storage box, grasps the small beige ball from the open brown box inside it, lifts the ball upward, moves it over to the adjacent gray fabric bag, and releases the ball into the bag.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 780, "tasks": ["place ball"], "length": 131, "global_instruction": "Place the orange ball from the blue bowl into the clear plastic block container.", "scene_description": "A white table has a light wooden block box in the left foreground, a clear plastic block container, a wooden shape sorter, a blue bowl with an orange ball, and a robotic arm on its right side.", "global_instruction_dense": "The right robotic arm moves toward the blue bowl, grasps the orange ball inside it, lifts the ball, moves it over the clear plastic block container, and releases the ball into the container.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 781, "tasks": ["place ball"], "length": 131, "global_instruction": "Pick up the orange ball and place it into the small open wooden box", "scene_description": "A white table holds a clear plastic bin of colorful blocks, a wooden shape-sorting cube, a blue bowl, a small open wooden box with a beige cylinder, and a right robotic arm with its end effector inside the blue bowl.", "global_instruction_dense": "The right robotic arm lifts its end effector out of the blue bowl, moves toward the orange ball on the table, grasps and lifts the orange ball, moves it over the small open wooden box, then releases the orange ball into the box.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 782, "tasks": ["place ball"], "length": 395, "global_instruction": "Reposition the small open wooden box near the shape sorter, then place the orange ball from the transparent container into the wooden box.", "scene_description": "A white table holds a wooden shape-sorter box with shaped cutouts, a small open light-brown wooden box, yellow foam blocks, a transparent plastic container with small items, a blue bowl of colorful small objects, and a white robotic arm at the right edge of the table.", "global_instruction_dense": "The right robotic arm first grasps the small open light-brown wooden box, moves it left to place it near the shape-sorter box, then moves to the transparent plastic container, grasps the orange ball inside, lifts the ball, moves it left above the repositioned wooden box, and releases the ball into the box.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 783, "tasks": ["place ball"], "length": 186, "global_instruction": "Place the orange ball on the table into the transparent plastic block container", "scene_description": "A white table holds a blue bowl with a grey spoon and colorful beads on the left, a transparent plastic container with yellow and red blocks, an orange spherical ball, a light brown wooden shape-sorting box, with a white robotic arm at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the orange ball on the table, grasps the ball with its gripper, lifts and moves it left over the transparent plastic container, then releases the ball into the container.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 784, "tasks": ["place ball"], "length": 306, "global_instruction": "Grasp the black ball on the table and place it in a new position on the table surface.", "scene_description": "A white table holds a light brown wooden shape-sorting cube, multiple small colored wooden blocks, a black spherical ball, a yellow-orange mushroom toy, a clear plastic container with colored items, and a small blue dish in the background. A single robotic arm is positioned above the upper right area of the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the black ball on the table, grasps it, lifts it, moves it horizontally to a new position, then lowers and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 785, "tasks": ["place ball"], "length": 204, "global_instruction": "Adjust the position of the red disc on the bottom tier of the white decorative shelf.", "scene_description": "A white openwork decorative shelf stands on the left of a black table. The shelf's top holds a grey mouse, middle tier holds a black rectangular object and green plate, bottom tier holds a black remote and red circular disc. A white robotic arm is positioned on the right of the table, with small items on the table surface between the shelf and arm. A brown couch is at the far left, and glass-paneled doors are in the background.", "global_instruction_dense": "The right robotic arm moves from its initial resting position on the right toward the bottom tier of the white decorative shelf, grasps the red circular disc on the tier, repositions the disc on the same bottom shelf tier, then releases the disc and retracts slightly.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 786, "tasks": ["place ball"], "length": 265, "global_instruction": "Pick up the red baseball bat on the bed and move it to the left side of the bed", "scene_description": "A bed with yellow, gray, and white checkered bedding holds a white pillow, gray folded cloth, white clothes hanger, gray rectangular box, small dark gray item, and red baseball bat. A white robotic arm is at the upper right, with a dark dresser, window, and dark trash bin in the bedroom background.", "global_instruction_dense": "The right robotic arm moves toward the red baseball bat on the bed, grasps it with its gripper, lifts it, moves it leftward across the bed, and lowers it onto the left side of the bed near the gray box.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 787, "tasks": ["place ball"], "length": 281, "global_instruction": "Pick up the red and gray baseball bat from the bed and place it near the white pillow on the bed.", "scene_description": "A dark gray bedroom contains a bed with a gray, yellow, and white plaid bedspread. On the bed are a white pillow at the head, a red and gray baseball bat, a silver rectangular box, a white clothes hanger, and a black remote on a small gray cloth near the foot. A black dresser sits under a window left of the bed, and a white robotic arm is at the right edge of the view.", "global_instruction_dense": "The right robotic arm extends from the right side of the scene toward the red and gray baseball bat on the bed, grasps the bat, lifts it, moves it toward the white pillow at the head of the bed, lowers it onto the bedding, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 788, "tasks": ["place ball"], "length": 169, "global_instruction": "Pick up the red baseball bat on the bed and place it on the left side of the bed near the silver box.", "scene_description": "A bed with gray, yellow, and white plaid sheets holds a white pillow, a silver rectangular box, a black remote resting on a small gray cloth, and a red baseball bat. Dark gray walls, a window, a black dresser, and a white door are in the background, with a robotic arm at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the red baseball bat on the right side of the plaid bed, grasps the bat with its gripper, lifts it, moves leftward across the bed, and lowers it near the silver rectangular box on the bed.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 789, "tasks": ["place ball"], "length": 243, "global_instruction": "Place the red baseball bat on the bed onto the gray cloth.", "scene_description": "A bed with a yellow, gray, and white plaid bedspread holds a white pillow, gray cloth, red baseball bat, silver rectangular box, and white clothes hanger. A robotic arm is positioned above the bed, with a dark gray wall, window, black dresser, trash bin, and white door in the background.", "global_instruction_dense": "The right robotic arm moves toward the red baseball bat on the bed, grasps it with its gripper, lifts it, moves it over the gray cloth on the bed, lowers it, and releases it onto the gray cloth.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 790, "tasks": ["place ball"], "length": 254, "global_instruction": "Retrieve a green disk from the striped wooden bowl and place it on the black table.", "scene_description": "A black table holds a black-and-brown striped wooden bowl, small containers, a crumpled checkered cloth, and a snack package on a grey grid mat. A white robotic arm is positioned to the right of the table, a white toilet is to the left, and a door, wooden dresser, and grey folding chair are in the background.", "global_instruction_dense": "The left robotic arm moves toward the striped wooden bowl, reaches inside to grasp a green disk, lifts the disk out of the bowl, moves it to the table surface, and releases it onto the black table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 791, "tasks": ["place ball"], "length": 132, "global_instruction": "Place the small green ball on the table into the black-and-white striped bowl.", "scene_description": "A black table stands against a light wall. On the table, an upright yellow food package sits next to a black-and-white striped bowl, a small dark open container, a grey placemat, a clear plastic lid, and a small green ball. A white robotic arm is positioned to the right of the table with its gripper above the bowl.", "global_instruction_dense": "The right robotic arm lowers its gripper into the striped bowl to adjust position, pushes the upright yellow package flat onto the table, grasps the green ball, lifts it, moves it over the bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 792, "tasks": ["place ball"], "length": 592, "global_instruction": "Cover the clear glass on the ironing board with the white napkin, then place the small orange disc on top of the napkin-covered glass.", "scene_description": "A blue-covered ironing board holds a clear glass, a white napkin adjacent to the glass, and a small orange disc further along the board. A robotic arm is positioned to the right of the ironing board, in a bedroom with a plaid bed, wooden nightstand, table lamp, and window with blinds to the left.", "global_instruction_dense": "The right robotic arm moves toward the white napkin on the ironing board, grasps it, drapes it over the clear glass, presses the napkin multiple times to adjust it over the glass, then moves to grasp the small orange disc, lifts it, moves it over the napkin-covered glass, and places the disc on top of the napkin before releasing its grip.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 793, "tasks": ["place ball"], "length": 180, "global_instruction": "Place the blue ball from the yellow bowl into the blue bowl of colorful beads.", "scene_description": "A round dark wooden table near a window holds a potted green plant, a square light wood box with small items, an opaque white cup, a yellow bowl, and a blue bowl filled with colorful beads, with a robotic arm at the right edge.", "global_instruction_dense": "The right robotic gripper moves toward the yellow bowl on the table, grasps the blue ball inside it, lifts the ball, moves it over the adjacent blue bowl of colorful beads, and releases the ball into the blue bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 794, "tasks": ["place ball"], "length": 201, "global_instruction": "Place the brown disc from the yellow bowl into the small light wooden box behind the bowl.", "scene_description": "A round dark wooden table has a white patterned paper cup on the left, a blue bowl of multicolored small beads next to the cup, a yellow bowl holding a brown disc, white cube and orange piece, a small light wooden box behind the yellow bowl, and a white napkin on the table. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper moves toward the yellow bowl on the table, grasps the brown disc inside the yellow bowl, lifts the brown disc, moves it over the small light wooden box behind the yellow bowl, then releases the brown disc into the box.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 795, "tasks": ["place ball"], "length": 157, "global_instruction": "Pick up the small red object on the bedside table and place it at another position on the same table.", "scene_description": "A small red spherical object, a black remote, and a gray remote on a white pad sit on a dark brown wooden bedside table. A brown fabric couch is to the left of the table, a white door is to the right, on a wooden floor.", "global_instruction_dense": "The right robotic gripper moves downward toward the small red object on the dark wooden bedside table, grasps the object, lifts it, moves slightly leftward, then releases the object to drop it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 796, "tasks": ["place ball"], "length": 131, "global_instruction": "Pick up the light-colored plush ball from the bed and place it on the upper tier of the metal wire rack.", "scene_description": "A lower bunk bed with a black bedspread printed with grey and white oval patterns holds a grey woven basket on its left, a two-tier metal wire rack with folded light-colored cloths on its upper tier in the middle, and a robotic arm on the right above the bed.", "global_instruction_dense": "The right robotic arm moves downward toward the plush ball near the grey woven basket on the bed, grasps the plush ball, lifts it upward, moves it toward the two-tier metal wire rack, and releases it onto the rack's upper tier next to the folded cloths.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 797, "tasks": ["place ball"], "length": 337, "global_instruction": "Move the small black disk on the white table to a position closer to the silver toaster and black kettle.", "scene_description": "A white table holds a silver dual-slice toaster, a clear plastic water bottle, a black electric kettle, a roll of white paper towels, a small black disk, an orange snack packet, and a black mouse. A dark gray sofa with a cream blanket is behind the table, white sheer curtains cover the window behind the table, a black floor lamp stands next to the window, and two robotic arms are positioned near the table.", "global_instruction_dense": "The left robotic arm reaches toward the small black disk on the white table, grasps and rotates it, lifts it, moves it leftward to a position next to the silver toaster and black kettle, lowers it onto the table, then releases it and moves upward.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 798, "tasks": ["place ball"], "length": 312, "global_instruction": "Reposition the white circular disc to different locations on the grey table.", "scene_description": "A grey table stands against a purple wall. On the table, dark blue sunglasses are at the front, a silver metal bowl with a metallic grater inside is behind the sunglasses, a white circular disc is to the right of the bowl, and a brown decorative plate is at the far right end of the table.", "global_instruction_dense": "The right robotic arm enters from the upper right, moves toward the white circular disc on the grey table, grasps it, moves and releases it to a new position, then re-grasps and moves it to another position on the table before releasing it.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 799, "tasks": ["place ball"], "length": 147, "global_instruction": "Place the purple ball from the right wavy bowl into the left silver bowl.", "scene_description": "A grey countertop against a purple wall holds a left silver bowl with a red rectangular object inside, a middle white coaster with a black pen, and a right wavy-edged bowl with a calculator and purple ball, with a bright glass doorway to the right.", "global_instruction_dense": "The right robotic arm enters from the top right, moves to the right wavy bowl, grasps the purple ball inside, lifts the ball, and moves left toward the left silver bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 800, "tasks": ["place ball"], "length": 342, "global_instruction": "Hang the white baseball cap from the brown cabinet onto the door hook.", "scene_description": "A white baseball cap rests on top of a brown wooden cabinet positioned adjacent to a white door, in an interior room with purple walls.", "global_instruction_dense": "The right robotic arm reaches toward the white baseball cap on the brown cabinet, grasps it, lifts and moves it to the door hook, hangs the cap on the hook, releases it, then retracts its arm away from the door.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 801, "tasks": ["place ball"], "length": 143, "global_instruction": "Pick the green tennis ball from the open cabinet drawer and place it on the upper right cabinet shelf.", "scene_description": "A brown wooden cabinet with upper open shelves holding books, a lower open right drawer containing a green tennis ball, black objects and papers, sits on a wooden floor next to a purple wall, with a robotic arm at the right edge of view.", "global_instruction_dense": "The right robotic gripper moves down toward the green tennis ball inside the open cabinet drawer, grasps the ball, lifts it upward, moves it over the upper right cabinet shelf, lowers it, and releases it onto the shelf next to the small stack of books.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 802, "tasks": ["place ball"], "length": 233, "global_instruction": "Place the yellow tennis ball from the upper cabinet shelf into the open lower drawer.", "scene_description": "A brown wooden cabinet with upper open shelves (holding books on left shelves, a yellow tennis ball and a black box on the right upper shelf) and lower drawers, with one right lower drawer open holding miscellaneous items, is against a left purple wall on a wooden floor, with a robotic arm on the right side of the frame.", "global_instruction_dense": "The right robotic gripper moves upward toward the yellow tennis ball on the right upper cabinet shelf, grasps the ball, moves downward toward the open lower drawer, releases the ball into the drawer, then retracts upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 803, "tasks": ["place ball"], "length": 216, "global_instruction": "Take the yellow tennis ball from the open cabinet drawer and place it on the upper cabinet shelf.", "scene_description": "A brown wooden cabinet with upper open shelves holding books and lower drawers is in view, one lower drawer is open containing a yellow tennis ball, a robotic arm is positioned above the open drawer, a purple wall is to the left, and wooden flooring with a grey counter are in the background.", "global_instruction_dense": "The right robotic arm lowers toward the open cabinet drawer, grasps the yellow tennis ball inside the drawer, lifts the ball upward, moves it to the empty upper shelf of the cabinet, and releases the ball onto the shelf.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 804, "tasks": ["place ball"], "length": 138, "global_instruction": "Pick up the orange disc on the table and place it into the open storage box", "scene_description": "A white robotic arm is at the left of a white conference table. On the table, an orange round disc sits near colored shape blocks, a wooden shape sorter, a beige water bottle, a black tumbler, and an open storage box, with office items and chairs in the background.", "global_instruction_dense": "The left robotic arm moves downward to grasp the orange disc on the table, lifts and moves it rightward over the open storage box, releases the disc into the box, then lifts upward away from the box.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 805, "tasks": ["place ball"], "length": 128, "global_instruction": "Place the red ball from the block bowl into the open beige box", "scene_description": "A white table holds a bowl of colorful blocks, an open beige box with a small black object inside, a blue cover book, a small display tablet, a black bag, a wooden shape-sorting cube, and a brown package. A white robotic arm is positioned above the left side of the table, and a dark backpack rests against the far wall near a mounted whiteboard.", "global_instruction_dense": "The left robotic arm moves downward toward the bowl of colorful blocks, grasps the red ball, lifts it, moves it over the open beige box, releases the red ball into the box, then moves upward away from the box.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 806, "tasks": ["place ball"], "length": 119, "global_instruction": "Pick the red ball from the transparent container and place it into the empty light brown wooden box.", "scene_description": "A white table holds a transparent container of colorful items, an empty light brown wooden box, a blue-covered book, a small display screen, with a robotic arm on the left of the frame and office chairs and a backpack in the background.", "global_instruction_dense": "The right robotic arm moves down toward the transparent container of colorful items, grasps the red ball inside it, lifts the ball, moves it over the empty light brown wooden box, and releases the ball into the box.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 807, "tasks": ["place ball"], "length": 108, "global_instruction": "Pick a black ball from the small light-brown box and place it into the clear plastic container.", "scene_description": "A white table in a lab space holds a beige wooden shape-sorting box, a small light-brown box with red and black balls, a clear plastic container with yellow items, a blue Artificial Intelligence textbook, a beige water bottle, a grey tissue box, a silver laptop, small dishes with colorful small items, and a white robotic arm with its gripper raised above the table.", "global_instruction_dense": "The right robotic arm moves downward toward the small light-brown box holding red and black balls, grasps the black ball with its gripper, lifts the ball, moves it over the clear plastic container, and releases the ball into the container.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 808, "tasks": ["place ball"], "length": 92, "global_instruction": "Place the small black ball on the counter into the open beige rectangular box.", "scene_description": "On a white kitchen counter, there is a white cutting board, a small blue packaged item, a small black spherical ball, an open beige rectangular box, a purple-and-white paper bowl with dark liquid, two stacks of disposable paper cups, and a black wall-mounted soap dispenser next to the cups against a grey tiled backsplash under wooden upper cabinets.", "global_instruction_dense": "The left robotic arm moves toward the small black ball on the kitchen counter, grasps it with its gripper, lifts the ball, moves it over the open beige rectangular box, lowers it, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 809, "tasks": ["place ball"], "length": 111, "global_instruction": "Pick a red ball from the white box and place it on the kitchen countertop.", "scene_description": "A white kitchen counter has a stainless steel sink with a chrome faucet, a white mug with red interior in the sink, a blue sponge, a clear bottle with green cap, a clear glass, a white tissue box, two white bowls, a white box holding red balls, a paper towel roll, and a beige bottle, with a robotic arm to the right of the counter.", "global_instruction_dense": "The right robotic gripper moves downward toward the white box on the counter, grasps a red ball inside the box, lifts the ball out of the box, moves it to the counter surface next to the box, and releases the ball to place it on the counter.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 810, "tasks": ["place ball"], "length": 109, "global_instruction": "Place the red ball on the counter into the white rectangular open box", "scene_description": "A white kitchen counter has a stainless steel sink with two white red-interior mugs inside. To the sink's right are a blue sponge, clear green-capped bottle, clear glass, white napkin stack, two white bowls, a white rectangular box holding a red and yellow ball, an extra red ball, a small white cup, and a paper towel roll, with a robotic arm above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the red ball on the counter left of the white box, grasps the red ball, lifts it, moves it over the white box, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 811, "tasks": ["place ball"], "length": 134, "global_instruction": "Pick the red ball from the white rectangular box and place it on the kitchen countertop.", "scene_description": "A white kitchen countertop has a stainless steel sink with two red-and-white mugs inside, chrome faucet, green-cap dish soap bottle, blue sponge, clear plastic bottle, white napkin stack, white paper towel roll, beige bottle, white bowl, small white cup, and a white box holding red and yellow objects. A robotic gripper is positioned above the napkin stack.", "global_instruction_dense": "The right robotic arm moves right from above the napkin stack to the white box, grasps the red ball inside the box, lifts it, moves left slightly, and places the red ball on the white countertop next to the small white cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 812, "tasks": ["place ball"], "length": 98, "global_instruction": "Place the loose red ball on the kitchen counter into the open white box.", "scene_description": "A white kitchen counter has a stainless steel sink with two white mugs with red interiors inside, a green-capped dish soap bottle, a clear spray bottle, a blue sponge, a stack of white napkins, a white paper towel roll, a beige bottle, two white bowls, an open white box holding a yellow block and one red ball, a loose red ball next to the box, a small white cup, and a robotic arm positioned above the right side of the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the loose red ball on the kitchen counter, grasps the red ball, lifts it, moves it over the open white box, and releases the red ball into the box.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 813, "tasks": ["place ball"], "length": 611, "global_instruction": "Place the AR-tagged white disk from the white plate into the white plastic cup on the table.", "scene_description": "A white office table holds a white plate with a white disk marked with a black AR tag, a beige open storage box, a dark green mug, an orange funnel, a clear white plastic cup containing small items, and assorted small office supplies. A Franka Emika robotic arm is positioned above the right side of the table, with white office chairs against a wooden panel wall, and more desks and monitors visible along the length of the table in the background.", "global_instruction_dense": "The right Franka Emika robotic arm moves from its upper starting position toward the AR-tagged white disk on the plate, grasps the disk, lifts and moves it over the white plastic cup, adjusts its position above the cup, then lowers and releases the disk into the cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 814, "tasks": ["place ball"], "length": 1014, "global_instruction": "Reposition the white circular AR-tagged disc on the table and adjust nearby small items.", "scene_description": "A white table in an office holds an orange bowl with colorful small pieces on the left, a dark blue mug, patterned paper cup, yellow, red, green, blue blocks, a light brown open wooden box, a small white plate with a beige cube, and a white robotic arm on the table's right side, with wooden wall paneling, office chairs, and computer workstations in the background.", "global_instruction_dense": "The right robotic arm moves to grasp the white circular AR-tagged disc on the table, lifts it, repositions it on the lower part of the table, adjusts nearby small objects including items around the patterned paper cup, and finally returns to a resting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 815, "tasks": ["place ball"], "length": 411, "global_instruction": "Pick up the orange ball and place it onto the blue plate", "scene_description": "A light wooden table holds an orange spherical ball and a blue round plate, with the orange ball to the left of the blue plate, and a white robotic arm positioned near the left edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the orange ball on the left side of the wooden table, grasps the ball with its gripper, lifts it, moves it rightward above the blue plate, then lowers and releases the ball onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 816, "tasks": ["place ball"], "length": 884, "global_instruction": "Pick the red ball from the orange bowl with blue inner rim and place it into the empty green bowl", "scene_description": "On a light wooden kitchen table, an empty green bowl sits on the left, an orange bowl with a blue inner rim holding a red ball sits in the center, two yellow blocks are on the right, and a robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic gripper moves above the orange bowl with a blue inner rim holding the red ball, lowers into the bowl to grasp the red ball, lifts it out, moves the ball left over the empty green bowl, lowers the ball, and releases it into the green bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 817, "tasks": ["place ball"], "length": 543, "global_instruction": "Pick the red ball from the green bowl and place it into the red bowl with blue interior.", "scene_description": "A light wooden kitchen table holds a green bowl with a red ball inside, a red bowl with a blue interior, a black slotted spatula, two yellow sponge blocks, and a white tote bag, with a white robotic arm positioned beside the table, and kitchen cabinets, a microwave, stove, and refrigerator in the background.", "global_instruction_dense": "The right robotic gripper moves above the green bowl, lowers and closes to grasp the red ball inside it, lifts the red ball, moves it rightward over the red bowl with blue interior, then releases the ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 818, "tasks": ["place ball"], "length": 1745, "global_instruction": "Move the red ball from the orange bowl into the green bowl using the black slotted spoon.", "scene_description": "A white robotic arm is positioned on the left side of a light wooden table. On the table, a black slotted spoon lies in the center, an orange bowl with a blue interior holding a red ball is left of the spoon, a translucent green bowl is right of the spoon, and two small yellow cylindrical objects are to the right of the green bowl; a kitchen area with wooden cabinets, a stainless steel refrigerator, microwave, and oven is in the background, and a person in a white short-sleeved shirt is next to the arm initially.", "global_instruction_dense": "The right robotic arm moves toward the black slotted spoon on the table, grasps it, uses it to scoop the red ball from the orange bowl, moves the ball toward the green bowl, drops the ball onto the table next to the green bowl, then releases the spoon onto the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 819, "tasks": ["place ball"], "length": 418, "global_instruction": "Transfer the red ball from the red bowl to the green bowl, then adjust items in the left wooden produce bowl.", "scene_description": "A dark grey tabletop holds a green bowl, a red bowl with a red ball inside, a small red container with metal clips, a folded yellow cloth, a pink stuffed toy, a large red ball at the bottom right, a wooden bowl with a carrot and green fruit, a wooden basket of packaged snacks, and a paper towel roll on the far right; a white robotic arm is positioned above the table, with a lounge area with large windows in the background.", "global_instruction_dense": "The right robotic arm moves down toward the red bowl, grasps the red ball inside it, lifts and moves the ball to the green bowl to release it, then moves to the left wooden bowl holding produce, adjusts the items inside that bowl, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 820, "tasks": ["place ball"], "length": 163, "global_instruction": "Place the orange ball onto the black X-marked cube base on the tabletop.", "scene_description": "A dark grey tabletop holds a green-red bowl, wooden bowl with green bell pepper, green plastic cup, packaged snack, black X-marked cube base, pink plush toy, white paper towel roll, yellow tissue container, and checkered mat. The right robotic gripper is positioned above the black cube, holding an orange ball.", "global_instruction_dense": "The right robotic arm lowers to place the orange ball it holds onto the black X-marked cube base, lifts the gripper away, moves backward, then moves forward again toward the cube.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 821, "tasks": ["place ball"], "length": 273, "global_instruction": "Pick up the small green and orange ball and place it on the left worktable.", "scene_description": "Two adjacent light wooden worktables are in a robotics lab. The left table has a small green container, small orange container, and folded dark green cloth. The right table holds a yellow mug on a red plate and plastic-wrapped bread. A white robotic arm with a blue gripper is positioned above the left table.", "global_instruction_dense": "The left robotic arm moves toward the small green and orange ball, grasps it with its gripper, lifts it, moves it over the left worktable, lowers it, and releases it onto the table between the green and orange containers.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 822, "tasks": ["place ball"], "length": 144, "global_instruction": "Pick up the orange plush basketball and place it on the left side of the table.", "scene_description": "A light wooden table holds an orange plush basketball at its center, small green, red, purple bowls to the left of the ball, a white mug, dark water bottle, white tissue box to the right of the ball, and a white robotic arm positioned on the left side of the table, with kitchen cabinets, fridge, and microwave in the background.", "global_instruction_dense": "The left robotic arm moves down toward the orange plush basketball at the center of the table, grasps it with its gripper, lifts it, moves it leftward across the table, lowers it, and releases it on the left side of the table near the small colorful bowls.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 823, "tasks": ["place ball"], "length": 226, "global_instruction": "Take the red ball out of the pink bowl and place it on the wooden table.", "scene_description": "A wooden table holds a pink bowl with a red ball inside, small colorful bowls, a white mug, a dark water jug, and a white box, with a kitchen area with cabinets, a fridge, and a microwave in the background, and a robotic arm positioned above the table.", "global_instruction_dense": "The left robotic arm moves downward toward the pink bowl, grasps the red ball inside the bowl, lifts the ball out of the bowl, moves leftward above the table, and releases the red ball onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 824, "tasks": ["place ball"], "length": 152, "global_instruction": "Pick up the small green ball on the table and place it into the orange bowl.", "scene_description": "A wooden table in a kitchen area holds a yellow cup on a red plate, an orange toy basketball, a small green ball, green, blue, orange, pink bowls in sequence, a white paper roll, a white printed mug, a dark water jug, and a white storage box on the right. A white robotic arm with a black gripper is positioned above the left side of the table, with wooden cabinets, a stainless steel refrigerator, and a microwave in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the small green ball on the wooden table, grasps the ball with its gripper, lifts and moves the ball over the orange bowl, releases the ball to drop it into the bowl, then moves upward back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 825, "tasks": ["place ball"], "length": 221, "global_instruction": "Place the small red ball on top of the orange pumpkin-shaped toy.", "scene_description": "A light wooden kitchen table holds an orange pumpkin-shaped foam toy, a small red ball beside the pumpkin, pink and blue small bowls, a red plate, a yellow cup, a white paper roll, a printed white mug, and a large dark water jug. A white robotic arm is positioned at the left side of the table.", "global_instruction_dense": "The left robotic arm tilts the orange pumpkin to grasp the small red ball attached to it, lifts the ball, moves it to the top of the upright pumpkin, places the ball on the pumpkin, releases the gripper, and moves upward away from the pumpkin.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 826, "tasks": ["place ball"], "length": 155, "global_instruction": "Place the small red ball on the table into the green small cup.", "scene_description": "A white left robotic arm is positioned above the left side of a light wooden kitchen table. On the table are a red plate, small colorful cups (purple, green, blue, orange), an orange toy basketball, a packaged bread bag, a white printed mug, and a large dark water jug, with wooden wall cabinets and a stainless steel refrigerator in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the small red ball on the table, grasps it with its gripper, lifts it, moves it over the green small cup, releases the ball into the cup, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 827, "tasks": ["place ball"], "length": 209, "global_instruction": "Pick up the small blue disc on the left of the table and place it at a new position on the table.", "scene_description": "A white robotic arm is positioned to the left of a wooden kitchen table. On the table, left to right: small blue disc, red plate, purple small bowl, yellow mug, orange pumpkin-shaped decor, green bowl, orange bowl, plastic bread bag, white printed mug, large black water jug. Background has wooden upper cabinets, stainless steel fridge, microwave, and whiteboard.", "global_instruction_dense": "The left robotic arm lowers toward the small blue disc on the left side of the wooden table, grasps it with its gripper, lifts it upward, moves it rightward over the table, and lowers it to place it on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 828, "tasks": ["place ball"], "length": 201, "global_instruction": "Place the small green ball next to the small green cup on the table.", "scene_description": "A wooden kitchen table holds a small green cup, small purple cup, red plate, orange bowl, yellow plush pumpkin, small green ball, packaged bread, white printed mug, and dark water jug, with a white robotic arm to the left of the table, and wooden cabinets, fridge, and microwave in the background.", "global_instruction_dense": "The left robotic arm moves toward the small green ball next to the orange bowl, grasps it with its gripper, lifts it, carries it left across the table to the area near the small green cup, lowers it, and releases it next to the green cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 829, "tasks": ["place ball"], "length": 364, "global_instruction": "Pick small red objects from the table and the orange pumpkin, and place them on the right side of the table.", "scene_description": "A white robotic arm is positioned to the left of a light wooden kitchen table. On the table, from left to right: a small green bowl, a small red ball, a small purple bowl, a red plate, a small orange bowl, an orange pumpkin-shaped object, a plastic bag of bread, a white printed mug, and a large dark water bottle. The background has brown upper kitchen cabinets, a stainless steel refrigerator, and a microwave.", "global_instruction_dense": "The left robotic arm moves toward the small red ball beside the green bowl, grasps it, moves and releases it near the orange pumpkin, then moves to the orange pumpkin, grasps a small red object on it, moves it toward the orange bowl, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 830, "tasks": ["place ball"], "length": 1548, "global_instruction": "Place the pink bowl on the white cloth, stand the light blue cup upright on the cloth, then put the small red ball into the pink bowl.", "scene_description": "A wooden table in a kitchen has a white cloth laid out, with a black fork, small red ball, lying light blue cup, and pink bowl positioned on and around the cloth; the background includes wooden upper cabinets, a stainless steel refrigerator, a microwave, and a stove, with a white robotic arm with gray segments positioned at the table.", "global_instruction_dense": "The right robotic arm first grasps the pink bowl and places it onto the white tablecloth, then grasps the light blue cup, rotates it to stand upright on the tablecloth beside the pink bowl, next moves to the small red ball, grasps it, lifts it over the pink bowl, releases it into the bowl, and finally retracts from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 831, "tasks": ["place ball"], "length": 1478, "global_instruction": "Grasp the green ball on the kitchen table, lift it, and place it back onto the table surface.", "scene_description": "A wooden kitchen table holds a vertically stacked set of multicolored cups (orange at the bottom, green and blue at the top), a small red bowl with yellow and red fruit pieces, a white marker with a red cap, a round green ball, and a small pink object. A white robotic arm with gray joint accents is positioned above the stacked cups, a person eats at the far end of the table, and kitchen appliances (refrigerator, microwave, stove) are in the background.", "global_instruction_dense": "The right robotic gripper first adjusts its position above the stacked multicolored cups, moves toward the white marker with a red cap and attempts to manipulate it, then shifts toward the green ball, grasps the ball, lifts it into the air above the table, holds it briefly, then releases the ball to drop it back onto the wooden table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 832, "tasks": ["place ball"], "length": 1141, "global_instruction": "Pick up the green ball from the table and place it on another area of the table.", "scene_description": "A light wooden table in a kitchen space holds a green tennis ball, multicolored plastic stacking cups, a small red square object, a crumpled white cloth, a small brown object, and a dark packaged item. The background includes wooden upper cabinets, a stainless steel refrigerator, microwave, and oven, with a white robotic arm positioned above the table.", "global_instruction_dense": "The right robotic gripper first adjusts its position above the table, moves toward the green ball, grasps it, lifts and moves it across the table, releases it onto the table surface, then adjusts its position above the table for the remainder of the clip.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 833, "tasks": ["place ball"], "length": 1492, "global_instruction": "Grasp the green ball and move it to multiple different positions on the wooden table.", "scene_description": "A light wooden kitchen table holds a green spherical ball, a white cloth, colorful plastic toys (rainbow stacking cup, yellow blocks, pink bowl, small red/yellow toys), a black-blue packaged item, and a small brown cockroach-shaped object, with kitchen appliances (stove, microwave, stainless steel fridge, wooden upper cabinets) in the background, and a white robotic arm with a blue gripper positioned above the table.", "global_instruction_dense": "The right robotic arm repeatedly grasps the green ball on the wooden table, lifts it, moves it to various positions on the table (including near the white cloth and colorful toys), releases it, and adjusts its position to re-grasp the ball and repeat the process.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 834, "tasks": ["place ball"], "length": 1313, "global_instruction": "Pick up the green ball and place it into the yellow cup on the wooden table.", "scene_description": "A wooden kitchen table holds a yellow cube, a green bowl with yellow objects and a white stick, a green ball, a rainbow stacking cup, a pink bowl, and small red/orange items on its left half; a white robotic arm is positioned left of the table, with wooden cabinets, a stainless steel fridge, microwave, and stove in the background kitchen area.", "global_instruction_dense": "The left robotic arm first moves toward a yellow cube on the wooden table, attempts to grasp it then pulls back, stays stationary briefly, then moves to grasp the green ball on the table, lifts the ball, moves it over the yellow cup placed on the table, releases the green ball into the yellow cup, then moves slightly away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 835, "tasks": ["place ball"], "length": 227, "global_instruction": "Place the small red ball on the table into the orange bowl.", "scene_description": "A light wooden table holds assorted colorful foam building blocks, a small red spherical ball, an orange bowl with green interior, and a white sheet of paper on its right end; a robotic arm is positioned to the left of the table, with a kitchen area (cabinets, oven, sink, microwave) in the background.", "global_instruction_dense": "The right robotic arm moves toward the small red ball on the wooden table, grasps the ball with its gripper, lifts and moves the ball over the orange bowl, then releases the ball into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 836, "tasks": ["place ball"], "length": 442, "global_instruction": "Place the orange ball from the woven bowl onto the table near the red bowl after knocking over the small seasoning bottle.", "scene_description": "A light wooden kitchen table holds an upright small dark-capped seasoning bottle, a brown woven bowl with an orange ball and blue items, a plate of green-and-brown patterned items, a bright red bowl, a pink bowl with an orange, and a brown woven basket with a round green-brown item, with white robotic arms positioned left of the table.", "global_instruction_dense": "The right robotic arm first knocks over the upright small seasoning bottle on the table, then moves to the brown woven bowl, grasps the orange ball inside, lifts it, moves it right across the table, and releases it onto the table surface next to the red bowl.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 837, "tasks": ["place ball"], "length": 164, "global_instruction": "Move the orange plush ball from behind the small cup to the right of the cup on the table.", "scene_description": "A light wooden kitchen table holds a blue-and-orange small cup, an orange plush ball behind the cup, a red plate with a small red item, a beige notepad, a level tool, and a white cup. A white robotic arm with a black gripper is positioned high above the table, with brown cabinets, a stainless steel fridge, microwave, and oven in the background.", "global_instruction_dense": "The right robotic arm lowers from its high initial position above the table, grasps the orange plush ball behind the small blue-and-orange cup, shifts the ball to the right side of the cup, releases the ball, then lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
+{"episode_index": 838, "tasks": ["place ball"], "length": 426, "global_instruction": "Place the small red ball into the green bowl on the tabletop.", "scene_description": "A white left robotic arm is positioned at the left edge of a light wood table, which holds a green bowl, yellow cleaning cloth, yellow container with a red lid, black pump-top jar, cardboard box, and black-and-red board on the far right.", "global_instruction_dense": "The left robotic arm moves toward the far side of the table, grasps the small red ball, lifts and shakes it repeatedly, moves it over the green bowl, releases the ball into the bowl, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "ball", "object_category": "Geometric Primitives & Toys"}
diff --git a/datasets/droid/data/place__ball/meta/episodes_stats.jsonl b/datasets/droid/data/place__ball/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..82068d1ac4fa72b502a3d36c472e36db60a62ebf
--- /dev/null
+++ b/datasets/droid/data/place__ball/meta/episodes_stats.jsonl
@@ -0,0 +1,839 @@
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diff --git a/datasets/droid/data/place__ball/meta/info.json b/datasets/droid/data/place__ball/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5766ceae31c97cb2bf858d8d028857fbe72da867
--- /dev/null
+++ b/datasets/droid/data/place__ball/meta/info.json
@@ -0,0 +1,255 @@
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+}
\ No newline at end of file
diff --git a/datasets/droid/data/place__ball/meta/stats.json b/datasets/droid/data/place__ball/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fb4d4d2b055574085f20f987b6b8dae2098e01c
--- /dev/null
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