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+{"episode_index": 0, "tasks": ["place utensil"], "length": 390, "global_instruction": "Place the black knife, orange-topped small container, and purple-topped small container onto the white plate.", "scene_description": "A white round table is next to a large window overlooking a city. On the table: a white plate on the right with a black spoon on it, two small cylindrical containers (one orange-topped, one purple-topped) left of the plate, a black knife next to a dark gray rectangular block, a blue sponge, and a white crumpled cloth on the leftmost side. A right robotic arm is positioned above the plate near the spoon.", "global_instruction_dense": "The right robotic arm first adjusts the position of the black spoon on the white plate, then grasps the black knife from the table, lifts and places it onto the plate, next grasps the orange-topped small container and places it on the plate, then grasps the purple-topped small container and places it on the plate, before retracting away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
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+{"episode_index": 7, "tasks": ["place utensil"], "length": 105, "global_instruction": "Place the red-handled stirrer from the back wooden desk into the blue cup on the black table.", "scene_description": "A black foreground table holds a blue cup and stacked blue-orange blocks, a robotic arm is at the top right, a wooden desk with supplies sits behind the table, a whiteboard with notes, framed portrait and filament spool rack are on the back wall, equipment cases and an air purifier are on the left floor.", "global_instruction_dense": "The right robotic arm moves downward toward the red-handled stirrer on the wooden desk, grasps the stirrer, lifts it, moves it over the blue cup on the black table, inserts it into the cup, and releases the stirrer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 8, "tasks": ["place utensil"], "length": 112, "global_instruction": "Take the orange stirrer out of the blue cup then place it back into the blue cup.", "scene_description": "In an office workspace, a black cabinet in the foreground holds a small light blue cup, a blue and orange plastic tray, and a larger blue cup with an orange stirrer inside. To the left of the cabinet are a white air purifier, black hard case, and small gray electronic device. Behind the cabinet is a wooden desk with 3D printer filament spools and office supplies, below a whiteboard with handwritten notes and a mounted framed picture. A white and gray robotic arm is positioned at the upper right initially.", "global_instruction_dense": "The right robotic arm moves toward the orange stirrer in the blue cup, grasps the stirrer, lifts it out of the cup, lowers it back into the cup, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 9, "tasks": ["place utensil"], "length": 233, "global_instruction": "Place the metal spoon and a metal fork into the white mug on the wooden table.", "scene_description": "A small white table on the left holds a black and white keyboard resting on a book, a light wooden table is to the right of the white table, a white mug and a metal spoon sit on the right side of the wooden table, with a dark monitor behind the tables.", "global_instruction_dense": "The right robotic gripper grasps the metal spoon next to the white mug, lifts it and places it into the mug, then grasps a metal fork and places the fork into the same white mug.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 10, "tasks": ["place utensil"], "length": 162, "global_instruction": "Place the white stirring stick from inside the mug onto the wooden tabletop.", "scene_description": "A light wooden table sits next to a white side table. The white side table holds stacked books topped with a keyboard and a clear plastic lid; a white mug with a white stirring stick inside rests on the right of the wooden table.", "global_instruction_dense": "The right robotic gripper enters the frame from the top right, moves toward the white mug on the wooden table, grasps the white stirring stick inside the mug, lifts the stick out of the mug, moves it over the wooden table surface, and releases it to drop onto the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 11, "tasks": ["place utensil"], "length": 266, "global_instruction": "Place the white spiral straw from the silver cup into the white ceramic mug", "scene_description": "A black table sits in the foreground, with a silver metal cup holding a white spiral straw and a white ceramic mug on its right edge. A right foreground robotic gripper is positioned at the top right of the frame. In the background, a wooden worktable holds a white robotic arm, stacked cardboard boxes stand near left glass doors, and a tripod with hanging green cloth is visible under ceiling lights.", "global_instruction_dense": "The right foreground robotic gripper moves downward to grasp the white spiral straw in the silver metal cup, lifts the straw out of the cup, moves it to position over the white ceramic mug, lowers the straw into the mug, and releases its grip.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 12, "tasks": ["place utensil"], "length": 200, "global_instruction": "Grasp the black-handled whisk on the table and reposition it on the table surface.", "scene_description": "A black-handled whisk, a yellow circular object, and a clear glass jar holding a black utensil rest on a white table, adjacent to a striped sofa with window blinds in the background.", "global_instruction_dense": "The right robotic arm moves into the frame toward the black-handled whisk on the white table, grasps the whisk, lifts and repositions it, then places it back on the table and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 13, "tasks": ["place utensil"], "length": 1140, "global_instruction": "Place the black spoon and the black-handled whisk into the clear glass jar.", "scene_description": "A small blue succulent in a grey pot, a yellow smiley face, a black spoon, a black-handled whisk, and a clear glass jar are placed on a white table. A striped sofa is to the right of the table, with blinds in the background.", "global_instruction_dense": "The right robotic gripper first grasps the black spoon on the table, lifts it, moves it over the clear glass jar, lowers it into the jar and releases it, then grasps the black-handled whisk, lifts it, moves it over the jar, lowers it into the jar and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 14, "tasks": ["place utensil"], "length": 382, "global_instruction": "Take the black whisk out of the clear glass jar and place it on the white tabletop.", "scene_description": "A white table holds a clear glass jar containing a black whisk and black spoon, a yellow circular smiley-faced coaster, and a small potted blue succulent in a gray pot. A striped couch is to the right of the table, with horizontal blinds in the background.", "global_instruction_dense": "The right robotic arm moves into view above the table, lowers to grasp the black whisk inside the clear glass jar, lifts the whisk out of the jar, moves it over the table near the small blue succulent, lowers it, releases it onto the table surface, then lifts away from the placed whisk.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 15, "tasks": ["place utensil"], "length": 258, "global_instruction": "Move the black-handled whisk from beside the glass jar to the right side of the jar on the cutting board.", "scene_description": "A white cutting board rests on a wooden table. On the cutting board, a teal and white tissue box sits on the left, a clear glass jar with a yellow lid is in the center, a black-handled whisk is to the right of the jar, a black-handled spatula is to the right of the whisk, and a small blue potted plant is behind the spatula. A striped fabric sofa is to the right of the table, with horizontal blinds in the background.", "global_instruction_dense": "The right robotic arm moves down toward the black-handled whisk next to the clear glass jar, grasps the whisk, lifts it, moves it to the right side of the jar, lowers it onto the cutting board, releases the whisk, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 16, "tasks": ["place utensil"], "length": 751, "global_instruction": "Unscrew the golden lid from the glass jar, then place the whisk and spatula into the open jar.", "scene_description": "A white table holds a green-and-white tissue box on the left, a clear glass jar with a golden lid at the center, a small blue potted plant right of the jar, and a black-handled whisk and black spatula on the right. A striped sofa is to the table's right, with blinds in the background.", "global_instruction_dense": "The right robotic arm first moves to the glass jar, grasps and unscrews its golden lid, places the lid on the table, then grasps the black-handled whisk, lifts it, and places it into the open jar, before grasping the black spatula, lifting it, and placing it into the jar alongside the whisk.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 17, "tasks": ["place utensil"], "length": 254, "global_instruction": "Remove the whisk from the glass jar and place it on the white tabletop next to the dark blue spoon.", "scene_description": "A white tabletop holds a glass jar with a black-handled whisk inside, a small blue succulent plant, a yellow circular object, a dark blue spoon, and a teal-and-white tissue box on the table's left. A striped couch sits to the right of the table, with horizontal blinds in the background.", "global_instruction_dense": "The right robotic arm moves down toward the whisk inside the glass jar, grasps the whisk, lifts it out of the jar, moves it right to the area above the dark blue spoon on the table, lowers the whisk, and releases it onto the tabletop next to the spoon.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 18, "tasks": ["place utensil"], "length": 343, "global_instruction": "Place the black-handled whisk into the clear glass jar on the table.", "scene_description": "A white table holds a green and white tissue box at the left, a black spoon below the tissue box, a clear glass jar at the center, a black-handled whisk to the right of the jar, and a small green lid near the right edge of the table. A striped sofa is positioned to the right of the table, with horizontal blinds in the background.", "global_instruction_dense": "The right robotic arm moves down toward the black-handled whisk on the white table, grasps the whisk, lifts it upward, moves it over the clear glass jar, lowers the whisk into the jar, then releases the whisk and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 19, "tasks": ["place utensil"], "length": 228, "global_instruction": "Take the black whisk out of the glass jar and place it on the white tabletop.", "scene_description": "A white tabletop holds a clear glass jar containing a black whisk and a black spatula, a green tissue box left of the jar, and a small green circular coaster right of the jar. A striped sofa sits next to the table, with horizontal blinds in the background.", "global_instruction_dense": "The right robotic arm moves down from the upper right toward the glass jar, grasps the black whisk inside the jar, lifts the whisk out of the jar, lowers it onto the white table surface, releases the whisk, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 20, "tasks": ["place utensil"], "length": 571, "global_instruction": "Remove the black slotted spatula from the clear glass jar and place it on the white table next to the black whisk.", "scene_description": "A white table sits on a wooden base, with a teal and white tissue box on its left side, a clear glass jar holding a black slotted spatula at its center, a black whisk to the right of the jar, a small yellow circular lid adjacent to the whisk, and a striped fabric couch to the right of the table, with horizontal blinds in the background.", "global_instruction_dense": "The right robotic arm first repositions the black whisk on the white table closer to the clear glass jar, then grasps the black slotted spatula inside the jar, lifts the spatula out of the jar, moves it to the table surface next to the whisk, adjusts its position, releases it, and lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 21, "tasks": ["place utensil"], "length": 619, "global_instruction": "Remove the black slotted spatula from the glass jar, place it into the light green bowl, then move the jar over the bowl before returning it to the cutting board.", "scene_description": "A wooden table topped with a white cutting board sits in front of a striped sofa and horizontal window blinds. On the cutting board: a green patterned tissue box (left), a clear glass jar holding a black slotted spatula, a black whisk next to the jar, a light green small bowl, and a gold circular lid (right).", "global_instruction_dense": "The right robotic arm enters the frame from above, grasps the black slotted spatula inside the clear glass jar, lifts the spatula out, moves it to the light green bowl and places the spatula inside, then grasps the clear glass jar, lifts it, tilts it over the green bowl, sets the jar back down on the white cutting board, and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 22, "tasks": ["place utensil"], "length": 144, "global_instruction": "Move the black-handled whisk from the right side of the table to the area next to the glass jar.", "scene_description": "A white table holds a light green bowl with a black spoon inside, a blue-patterned tissue box, a clear glass jar with a yellow lid, and a black-handled whisk. A striped couch and window with horizontal blinds are behind the table.", "global_instruction_dense": "The right robotic arm moves down toward the black-handled whisk on the right of the table, grasps it, lifts it, moves it left to the area beside the clear glass jar, and places it on the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 23, "tasks": ["place utensil"], "length": 234, "global_instruction": "Move the black-handled whisk from beside the glass jar to beside the green bowl.", "scene_description": "A teal potted plant, light blue tissue box, black-handled whisk, green bowl with a black spoon inside, and clear glass jar with a yellow lid are arranged on a white table, with a striped couch to the right of the table.", "global_instruction_dense": "The right robotic arm moves down from off-screen toward the black-handled whisk next to the glass jar, grasps the whisk, lifts it, moves it to the area to the right of the green bowl, lowers and releases the whisk onto the table, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 24, "tasks": ["place utensil"], "length": 195, "global_instruction": "Pick up the black-handled whisk and place it next to the clear glass bottle on the table.", "scene_description": "A teal potted succulent, small yellow round object, clear glass bottle, light green bowl with a black spoon, and black-handled whisk are placed on a white-topped table, with a striped couch adjacent to the table.", "global_instruction_dense": "The right robotic arm enters from the top of the frame, moves down to grasp the black-handled whisk, lifts it, moves it to the area beside the clear glass bottle, lowers and releases the whisk onto the table, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 25, "tasks": ["place utensil"], "length": 203, "global_instruction": "Remove the whisk from the glass bottle and place it on the white table next to the black spoon.", "scene_description": "A white table with a white cutting board on it holds a black spoon on the board's left side, a green bowl at the board's center, a beige bowl at the board's upper right, and a glass bottle with a black-handled whisk inside at the board's upper middle. A striped couch is to the right of the table, with window blinds in the background.", "global_instruction_dense": "The right robotic arm moves toward the glass bottle holding the whisk, grasps the whisk, lifts it out of the bottle, moves it left over the table toward the black spoon, lowers it, and releases it onto the table next to the spoon.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 26, "tasks": ["place utensil"], "length": 492, "global_instruction": "Place all metal utensils resting on the orange couch into the beige divided cutlery tray.", "scene_description": "An orange fabric couch is in the foreground, with multiple metal utensils (a silver spoon, silver wrench, and blue-handled tool) placed on its seat, a beige divided cutlery tray positioned at the front edge of the couch, a light grey fabric couch behind the orange couch, and an open office space with desks, office chairs, computers, and stacked cardboard boxes in the background.", "global_instruction_dense": "The right robotic arm extends from the right side, moves toward the orange couch, sequentially grasps the silver spoon, silver wrench, and blue-handled metal tool from the couch seat, lifts each utensil, moves them over the beige cutlery tray at the front of the couch, releases the spoon and wrench into the tray, and grasps the blue-handled tool as the video concludes.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 27, "tasks": ["place utensil"], "length": 261, "global_instruction": "Place cutlery from the orange sofa into the light yellow divided tray.", "scene_description": "An orange sofa holds scattered metal cutlery, a white cup with pink stripes and a pink lid, and a light yellow divided tray with cutlery inside, situated in an open office with desks, computers and office chairs in the background.", "global_instruction_dense": "The right robotic arm extends from the upper right toward the cutlery on the orange sofa, grasps a blue-handled cutlery, lifts and moves it over the light yellow divided tray, releases the cutlery into the tray, then moves back toward the remaining cutlery on the sofa.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 28, "tasks": ["place utensil"], "length": 259, "global_instruction": "Place the red-handled utensil on the orange sofa into the wooden compartment tray.", "scene_description": "A light wooden compartmentalized tray, multiple silver metal utensils, and a pink-white striped cup are placed on an orange sofa seat, with an office space with desks, computers and office chairs in the background.", "global_instruction_dense": "The right robotic arm moves down toward the utensils scattered on the orange sofa, grasps the red-handled silver utensil, lifts it, moves it left over the light wooden compartment tray, and releases the utensil into the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 29, "tasks": ["place utensil"], "length": 467, "global_instruction": "Place the utensils and small bottle from the orange sofa seat into the yellow segmented tray.", "scene_description": "An orange office sofa has a yellow segmented tray on the left of its seat, multiple silver metal utensils and a small orange-capped bottle on the middle of the seat, and a pink-and-white cup on the right of the seat, with an open office space of desks, monitors and chairs in the background.", "global_instruction_dense": "The right robotic arm enters from the top right, moves down to the orange sofa seat, sequentially grasps the small orange-capped bottle, a brown wooden spoon, and silver utensils, lifts each item, and places each into the yellow segmented tray on the left of the sofa seat.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 30, "tasks": ["place utensil"], "length": 374, "global_instruction": "Remove the metal straw from the light blue mug and place it on the desk surface.", "scene_description": "A light wooden office desk holds a black monitor on the left, a white power strip, a white charging adapter, a dark notebook with pink and purple stripes, a small potted green plant in a light grey pot, and a light blue metal mug with a black handle containing a metal straw. Blue office chairs are visible in the background to the right of the desk.", "global_instruction_dense": "The right robotic gripper enters the frame from the upper right, moves toward the light blue mug, grasps the metal straw inside the mug, lifts the straw out of the mug, moves the straw down to the desk next to the mug, releases the straw onto the desk, and retracts upward away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 31, "tasks": ["place utensil"], "length": 562, "global_instruction": "Pick the metal utensil from the sink and place it into the black dish rack", "scene_description": "A dark marble kitchen countertop has a stainless steel sink, a black dish rack with assorted cups, a green sponge near the sink, a clear plastic container, metal funnels, white upper cabinets, a wall-mounted paper towel dispenser, and a black soap dispenser. A robotic arm is positioned above the counter near the sink, with a small white bowl and blue bottle next to the sink.", "global_instruction_dense": "The right robotic arm moves down toward the stainless steel sink, grasps the metal utensil inside the sink, lifts the utensil, moves it left toward the black dish rack, lowers it into the rack, releases it, then moves away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 32, "tasks": ["place utensil"], "length": 553, "global_instruction": "Pick up a metal utensil from the sink and place it into the black dish rack.", "scene_description": "A black dish rack holding various cups and utensils sits to the left of a stainless steel sink on a dark kitchen counter, with white upper cabinets above the counter, and a robotic arm positioned above the sink area.", "global_instruction_dense": "The right robotic arm moves downward toward the sink, grasps a metal utensil, lifts it, moves it left over the black dish rack, lowers it, and releases it into the dish rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 33, "tasks": ["place utensil"], "length": 482, "global_instruction": "Pick a long metal utensil from the black dish rack and place it into the stainless steel sink.", "scene_description": "A dark marble kitchen counter holds a black dish rack (filled with various utensils including metal, red, and blue items) to the left of a stainless steel sink, a small blue bowl and green-capped item inside the sink, a black soap dispenser mounted on the wall above the sink, white upper cabinets, and a robotic arm at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves left toward the black dish rack on the kitchen counter, grasps a long metal utensil from the rack, lifts it, moves it over the stainless steel sink, and releases the utensil into the sink.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 34, "tasks": ["place utensil"], "length": 279, "global_instruction": "Place the wooden spatula onto the red plate.", "scene_description": "A light wooden table holds a silver lidded pot, bright red plate, wooden spatula, black plastic cup, small silver metal cup, black phone stand, white circular coaster, and a silver toaster oven at the table's back, in an office with glass partitions.", "global_instruction_dense": "The right robotic gripper approaches the wooden spatula on the wooden table, grasps it, lifts it, moves it over the red plate, lowers and releases it onto the plate, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 35, "tasks": ["place utensil"], "length": 168, "global_instruction": "Pick up the wooden slotted spatula and place it next to the red plate on the table.", "scene_description": "A light wooden table holds a black cup, small white cube, wooden slotted spatula, stainless steel bowl, red plate with a yellow object, small silver mug, and a gray toaster oven against a whiteboard, with an office area in the background.", "global_instruction_dense": "The right robotic arm enters the workspace, lowers to grasp the wooden slotted spatula near the black cup, lifts it, moves it to the area beside the red plate, lowers it onto the table, releases the spatula, and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 36, "tasks": ["place utensil"], "length": 161, "global_instruction": "Pick a metal utensil from the wooden tray and place it on the wooden table near the light blue mug.", "scene_description": "A light brown wooden table holds a light blue mug with a black handle, a red-and-white glue stick left of the mug, a gray pot with a black lid right of the mug, and a gray crate topped with a red-taped wooden tray on a white cloth section at the back of the table, alongside a small black mesh organizer on the cloth.", "global_instruction_dense": "The robotic gripper descends from the top of the frame to the wooden tray on the gray crate, grasps a metal utensil, lifts it, moves it to the wooden table surface between the light blue mug and gray lidded pot, and releases the utensil onto the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 37, "tasks": ["place utensil"], "length": 416, "global_instruction": "Place writing utensils from the black pen holder into the clear plastic container", "scene_description": "A table covered with a gray cloth holds multiple items: a black pen holder, two green-handled scissors, a blue pen, a purple umbrella, a clear acrylic organizer, white label sheets, a black tape dispenser, a clear plastic container, several white tape rolls, gold and red decorative bows, a red spool on a black and yellow box, and a tablet. A black office chair, wall-mounted TV, and orange bags on the floor are in the background, with a door and blue trash bin near the glass partition.", "global_instruction_dense": "The right robotic arm grasps a blue pen from the black pen holder, moves and places it into the clear plastic container, then grasps a white marker from the holder, moves it to the container, and accidentally knocks the container over while attempting to place the marker inside.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 38, "tasks": ["place utensil"], "length": 230, "global_instruction": "Place the black utensil from the table into the tote bag on the adjacent chair", "scene_description": "A light wood kitchen table holds a black utensil, small brown glass bottle, red bottle cap, blue packet, crumpled white cloth, yellow cloth, and white paper towel roll. A white tote bag with a green stripe rests on a wooden chair to the left of the table, and a robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic gripper moves down toward the black utensil on the table, grasps it, lifts it, moves it left over the tote bag on the chair, and releases it into the bag.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 39, "tasks": ["place utensil"], "length": 309, "global_instruction": "Pick up the wooden slotted spatula and place it into the black frying pan on the stovetop.", "scene_description": "A kitchen stovetop holds a dark grey pot on the middle burner and a black frying pan on the left burner; a wooden slotted spatula rests on the counter next to small seasoning bottles, and a robotic arm is positioned above the stovetop near the pot.", "global_instruction_dense": "The right robotic arm moves toward the wooden slotted spatula on the counter, grasps it with its gripper, lifts it, moves left over the stovetop, lowers it, and places it into the black frying pan on the left burner.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 40, "tasks": ["place utensil"], "length": 204, "global_instruction": "Place the wooden slotted spatula into the large black pot on the stove.", "scene_description": "A black electric stove with a large black pot on the left burner and a small dark gray pot on the middle burner, a light wooden slotted spatula rests on the counter to the right of the stove, with a stone-patterned backsplash, upper cabinet, and white refrigerator in the background.", "global_instruction_dense": "The right robotic arm moves toward the light wooden slotted spatula on the counter to the right of the stove, grasps it with its gripper, lifts the spatula, moves it left over the large black pot on the left burner of the stove, lowers the spatula into the pot, releases it, and moves upward away from the pot.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 41, "tasks": ["place utensil"], "length": 240, "global_instruction": "Pick up the light wooden spatula from the stovetop and place it near the front left pot on the stove.", "scene_description": "A black electric stovetop holds a dark grey pot, a clear lidded pot, a light wooden spatula, and red-capped condiment bottles on its right side. A granite backsplash, light wood upper cabinet, and white refrigerator are in the background, with a robotic arm positioned above the right side of the stove.", "global_instruction_dense": "The right robotic arm moves toward the light wooden spatula on the right area of the stovetop, grasps it with its gripper, lifts it, moves it leftward over the stovetop, lowers it near the front left pot, releases it, then moves upward away from the stovetop.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 42, "tasks": ["place utensil"], "length": 222, "global_instruction": "Pick up a wooden spatula and place it near the pot on the kitchen stovetop.", "scene_description": "A kitchen stovetop scene with a black stove holding a dark gray pot, stone-patterned backsplash, light wood wall cabinet, spice bottles on the right counter, wooden spatulas on the stove, and a robotic arm at the right of the frame.", "global_instruction_dense": "The right robotic arm moves left to grasp a wooden spatula from the stovetop, lifts and moves it over the dark gray pot, then lowers it into position near the pot.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 43, "tasks": ["place utensil"], "length": 246, "global_instruction": "Take a wooden spatula from the utensil holder and place it on the kitchen counter.", "scene_description": "A kitchen with a black stovetop holding a dark grey utensil holder with wooden utensils, spice containers, and lidded pots. A white and grey robotic arm is positioned to the right of the stove, with a granite backsplash, upper cabinets, and a fridge in the background.", "global_instruction_dense": "The right robotic arm moves toward the utensil holder on the stovetop, grasps a wooden spatula from inside the holder, lifts it out, moves it over the adjacent kitchen counter, lowers it, releases it onto the counter surface, then moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 44, "tasks": ["place utensil"], "length": 224, "global_instruction": "Pick up the wooden spatula from the dark pot and place it on the stovetop surface.", "scene_description": "A black Frigidaire kitchen stovetop holds a dark pot with a wooden spatula inside, two seasoning bottles (one red-capped, one dark-capped), a lidded metal pot, and a circular metal lid, with a white robotic arm positioned on the right above the stovetop against a light granite backsplash.", "global_instruction_dense": "The right robotic arm moves toward the dark pot on the stovetop, grasps the wooden spatula inside the pot, lifts it out of the pot, moves it leftward over the stovetop, lowers it, releases it onto the stovetop next to the seasoning bottles, then moves upward away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 45, "tasks": ["place utensil"], "length": 277, "global_instruction": "Place the wooden stirring stick from the counter into the dark grey pot on the stove.", "scene_description": "A kitchen has a black stove holding a silver lidded pot, a red-capped spice jar, a small dark spice jar, a dark grey pot, and a metal lid; a speckled beige backsplash, light wood upper cabinets, a white refrigerator, and a right robotic arm are also visible.", "global_instruction_dense": "The right robotic arm moves downward toward the wooden stirring stick on the kitchen counter, grasps the stick, lifts it, moves it over the dark grey pot on the stove, lowers the stick into the pot, releases the stick, and moves its gripper away from the pot.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 46, "tasks": ["place utensil"], "length": 233, "global_instruction": "Pick a wooden chopstick from the pot on the stove and place it on the red-capped spice bottle on the kitchen counter.", "scene_description": "A black stove with a dark pot holding a wooden chopstick sits in a kitchen, a robotic arm is positioned in the upper right, and spice bottles including one with a red cap rest on the counter next to the stove below light upper cabinets.", "global_instruction_dense": "The right robotic arm moves downward toward the dark pot on the kitchen stove, grasps a wooden chopstick from inside the pot, lifts the chopstick, moves it over the red-capped spice bottle on the adjacent counter, lowers the chopstick, releases it onto the bottle cap, and moves upward away from the bottle.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 47, "tasks": ["place utensil"], "length": 175, "global_instruction": "Place a light wooden spatula onto an empty section of the stovetop.", "scene_description": "A black electric stovetop holds a lidded dark pot and two light wooden cooking utensils, a red-capped spice bottle sits on the adjacent granite counter, upper cabinets are mounted on the stone-patterned wall above the stove, and a robotic arm is positioned at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves down toward the wooden utensils on the stovetop, grasps a light wooden spatula, lifts it, moves it to an empty spot on the stovetop, releases it, then retracts upward away from the stove.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 48, "tasks": ["place utensil"], "length": 218, "global_instruction": "Pick up the flat wooden cooking utensil from the stovetop and place it on the counter next to the spice bottles.", "scene_description": "A kitchen with a black stove, a black pot on the stovetop, two light brown wooden cooking utensils lying on the stove, a red-capped spice bottle and a small dark blue spice bottle on the adjacent counter, granite backsplash, upper light wood cabinets, and a white refrigerator in the background, with a robotic arm on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves left from its initial position toward the stovetop, grasps the flat wooden cooking utensil, lifts it, moves right over to the counter next to the red-capped spice bottle, lowers the utensil, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 49, "tasks": ["place utensil"], "length": 360, "global_instruction": "Grasp the wooden spatula from the red-capped spice jar, place it on the counter, then adjust the stove control knobs.", "scene_description": "A black stove with a black pot (holding a wooden spoon) sits below a granite backsplash and light wood upper cabinets. A wooden spatula rests on a red-capped spice jar on the granite counter to the right of the stove, and a robotic arm is positioned on the far right of the scene.", "global_instruction_dense": "The right robotic arm moves left toward the wooden spatula resting on the red-capped spice jar, grasps and lifts the spatula, lowers it to place it on the kitchen counter next to the stove, releases the spatula, then moves up to the stove's control panel and adjusts the stove knobs.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 50, "tasks": ["place utensil"], "length": 269, "global_instruction": "Pick up the wooden cooking stick from the frying pan and place it on the kitchen counter next to the red-capped spice bottle.", "scene_description": "A black stovetop holding a lidded black pot, a frying pan with a light wooden cooking stick inside, and a glass lid sits on a granite kitchen counter. A red-capped spice bottle rests on the counter to the right of the stovetop, light wood upper cabinets are mounted above the stovetop, and a white robotic arm is positioned at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves left toward the wooden cooking stick inside the stovetop frying pan, grasps the stick, lifts it, moves right over the counter near the red-capped spice bottle, lowers the stick, releases it onto the counter surface, then retracts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 51, "tasks": ["place utensil"], "length": 303, "global_instruction": "Reposition the wooden spatula and adjust the placement of the glass pot lid on the stovetop.", "scene_description": "A kitchen stovetop scene: a black stovetop holds a dark lidded pot, light wooden spatula, white slotted cooking utensil, and blue-labeled bottle. A red-capped spice jar rests on the adjacent granite counter, light wood upper cabinets are above the stove, and a robotic arm is positioned at the right side of the frame.", "global_instruction_dense": "The right robotic arm moves left from its starting position, grasps the wooden spatula on the stovetop, shifts it to a new position and releases it, then moves to the glass pot lid, grasps its black knob, lifts and adjusts the lid's position, sets it down, then returns to its original position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 52, "tasks": ["place utensil"], "length": 559, "global_instruction": "Pick a wooden cooking spatula from the stovetop and place it on the adjacent kitchen counter.", "scene_description": "In a kitchen, a black stovetop holds a dark lidded pot with wooden cooking utensils at its front; a granite backsplash, light wooden upper cabinets, and a lit range hood are above the stove; the adjacent counter has a red-capped spice jar and a small dark purple bottle, a white door is in the background, and a robotic arm is positioned near the door above the counter.", "global_instruction_dense": "The right robotic arm moves left toward the utensils on the stovetop, grasps a light wooden flat spatula, lifts it, moves right over the counter beside the spice jars, lowers and releases the spatula onto the counter, then moves back toward the stovetop to grasp another utensil.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 53, "tasks": ["place utensil"], "length": 190, "global_instruction": "Move the wooden slotted spatula from the left cooking pot to the right cooking pot.", "scene_description": "A black electric stovetop sits under a stainless steel range hood against a speckled stone backsplash, with light wood wall cabinets above. On the stovetop, the left black cooking pot holds a light wooden slotted spatula, while a glass lid and spice bottles sit near the right black cooking pot. A white robotic arm is mounted to the right of the stovetop.", "global_instruction_dense": "The right robotic arm moves left toward the left cooking pot on the stovetop, grasps the wooden slotted spatula inside it, lifts the spatula, moves right over the right cooking pot, lowers and releases the spatula into the right pot, then moves back to its starting position on the right.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 54, "tasks": ["place utensil"], "length": 198, "global_instruction": "Place the wooden spatula into the silver pot on the stovetop.", "scene_description": "A black Frigidaire stovetop holding a silver lidded pot sits against a granite backsplash, a light wooden wall cabinet is mounted above the stove, bottles and a small package are positioned beside the pot, a white door is in the background, and a robotic arm is at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves left from its starting position, grasps the wooden spatula, lifts it, moves it over the silver pot on the stovetop, lowers it into the pot, releases the spatula, then moves back to its original right position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 55, "tasks": ["place utensil"], "length": 462, "global_instruction": "Remove the glass lid from the gray pot and place a wooden spatula into the pot.", "scene_description": "A black Frigidaire electric stove is on the left of a kitchen, with a gray pot topped with a glass lid on the stovetop, a red-capped spice bottle next to the pot, a light wood upper cabinet mounted on the speckled stone backsplash, a white refrigerator in the background, and a right robotic arm positioned above the pot.", "global_instruction_dense": "The right robotic arm grasps and lifts the glass lid off the gray pot, places the lid on the kitchen counter, then grasps a wooden spatula from the counter, moves it over the pot, lowers it into the pot, and releases the spatula.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 56, "tasks": ["place utensil"], "length": 373, "global_instruction": "Pick up the green sticky note and place it next to the purple cloth on the desk.", "scene_description": "A light wooden desk has a black monitor on its left, with a green sticky note, two small white tubes, a purple cloth, a red silicone object, and stacked papers on the far left. A robotic arm is at the upper right above the desk.", "global_instruction_dense": "The right robotic arm moves downward toward the green sticky note, grasps it, lifts and moves it to the area near the purple cloth, lowers and releases it next to the cloth, then moves upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 57, "tasks": ["place utensil"], "length": 463, "global_instruction": "Take a chopstick from the dark blue utensil bowl and place it into the light blue bowl on the left of the counter.", "scene_description": "A grey kitchen counter has assorted condiment bottles on the far left, light blue bowls and plates, a black kettle, a pink knife/utensil holder, a dark blue bowl holding utensils, stacked bowls, a white cutting board, and a sink with soap dispensers on the right. A robotic gripper is positioned at the top right of the frame.", "global_instruction_dense": "The right robotic gripper moves left toward the dark blue bowl of utensils, grasps a chopstick from the bowl, lifts the chopstick, moves leftward over the light blue bowl on the counter, and releases the chopstick into the light blue bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 58, "tasks": ["place utensil"], "length": 256, "global_instruction": "Pick up the wooden chopsticks from the light blue bowl and place them on the kitchen counter", "scene_description": "A kitchen counter holds a light blue bowl with wooden chopsticks, orange scissors, a black electric kettle, a pink utensil holder, stacked bowls, a small white bowl, a clear container, cleaning and condiment bottles on the left, and a sink with a purple soap bottle on the right. A robotic arm is positioned at the top right, with a grey speckled backsplash, light switches, and under-cabinet lighting below upper cabinets.", "global_instruction_dense": "The right robotic arm moves down from its initial top-right position to the light blue bowl on the kitchen counter, grasps the wooden chopsticks inside the bowl, lifts them, moves toward the lower counter area, and releases the chopsticks onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 59, "tasks": ["place utensil"], "length": 224, "global_instruction": "Place a chopstick from the clear glass container into the light blue bowl on the kitchen counter.", "scene_description": "A gray speckled kitchen counter holds light blue bowls, a clear glass container with chopsticks, a silver electric kettle, a pink knife block, orange scissors, cleaning spray bottles, stacked dishware, and a sink with a faucet on the right; a robotic arm is positioned at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves down toward the clear glass container on the counter, grasps a chopstick, lifts it, moves it left to the light blue bowl, lowers the chopstick into the bowl, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 60, "tasks": ["place utensil"], "length": 227, "global_instruction": "Place chopsticks from the transparent container into the light blue bowl", "scene_description": "A kitchen countertop has assorted bottles with orange, yellow, and gold caps plus a spray bottle on the left, a light blue bowl with white contents, a silver electric kettle, a pink utensil holder, stacked blue and dark bowls, a transparent container holding chopsticks and a spoon, a white cutting board against the back wall, and a robotic arm near the right sink area.", "global_instruction_dense": "The right robotic arm moves toward the transparent container on the kitchen counter, grasps a pair of chopsticks from it, lifts the chopsticks, moves over the light blue bowl, and releases the chopsticks into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 61, "tasks": ["place utensil"], "length": 285, "global_instruction": "Place utensils from the large light blue bowl into the clear plastic storage container.", "scene_description": "A kitchen counter holds condiment bottles with orange, yellow and gold caps on the far left, a white spray bottle, a large light blue bowl with a utensil inside, stacked blue and black bowls, a pink knife block, a silver electric kettle, a clear plastic storage container, and a sink with a metallic faucet and soap bottle to the right; a right robotic arm is positioned above the right side of the counter.", "global_instruction_dense": "The right robotic arm moves left toward the large light blue bowl, grasps a utensil inside the bowl, lifts the utensil, moves right to the clear plastic storage container, and releases the utensil into the container.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 62, "tasks": ["place utensil"], "length": 178, "global_instruction": "Place the pair of wooden chopsticks on the kitchen counter into the clear plastic container.", "scene_description": "A kitchen counter holds condiment bottles with orange, gold, and yellow caps on the far left, a white spray bottle, light blue dishware, a silver electric kettle, a pink knife block holding utensils, orange scissors, a pair of wooden chopsticks, a clear plastic container with a metal spoon inside, stacked bowls at the back, and a sink with a faucet on the far right. A robotic arm is positioned at the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves left from the right edge of the kitchen counter, grasps the pair of wooden chopsticks resting on the counter, lifts the chopsticks, moves them over the clear plastic container, and releases them into the container.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 63, "tasks": ["place utensil"], "length": 177, "global_instruction": "Place the wooden chopsticks onto the clear plastic storage container on the kitchen counter.", "scene_description": "A light gray speckled kitchen counter holds multiple seasoning bottles with orange and gold caps, a green-labeled white spray bottle, a light blue bowl, a silver electric kettle, a pink utensil holder with knives, a clear plastic storage container, a blue lid, and wooden chopsticks near the container. A robotic arm is positioned above the right side of the counter, with a sink, soap dispensers, and a white cutting board against the back wall.", "global_instruction_dense": "The right robotic gripper moves left toward the wooden chopsticks on the kitchen counter, grasps the chopsticks, lifts and moves them over the clear plastic storage container, then releases the chopsticks onto the container.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 64, "tasks": ["place utensil"], "length": 508, "global_instruction": "Place the chopsticks and metal spoon from the clear container into the large light blue bowl", "scene_description": "A gray speckled kitchen counter holds a large light blue bowl, stacked smaller blue and black bowls, a clear plastic container with chopsticks resting on its rim, a blue plate, orange scissors, cleaning spray bottles, seasoning bottles with orange and gold caps, a pink knife block, a silver electric kettle, a white cutting board beside the sink, and a small white bowl. A robotic arm is partially visible at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves left from its initial right position, grasps the chopsticks from the clear plastic container, moves the chopsticks to the large light blue bowl and releases them inside, then returns to the clear container, grasps the metal spoon inside it, moves the spoon to the large light blue bowl and releases it inside.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 65, "tasks": ["place utensil"], "length": 235, "global_instruction": "Pick the wooden chopstick from the light blue bowl and place it into the clear plastic container.", "scene_description": "A kitchen counter has condiment bottles on the far left, a light blue bowl with a wooden chopstick inside, a clear plastic container in front of the bowl, stacked dishware, a pink knife holder, a silver electric kettle, a white cutting board near the sink on the right, and a robotic arm at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves left from the right side of the kitchen counter, reaches into the light blue bowl, grasps the wooden chopstick inside, lifts the chopstick, moves it over the clear plastic container in front of the bowl, lowers the chopstick, and releases it into the clear plastic container.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 66, "tasks": ["place utensil"], "length": 201, "global_instruction": "Adjust the position of a wooden chopstick on the clear plastic container on the kitchen counter.", "scene_description": "A kitchen counter holds multiple bottles with orange, yellow and gold caps, a white spray bottle, a light blue bowl, a light blue plate, a clear plastic container with two wooden chopsticks on top, a silver electric kettle, a pink knife block, stacked bowls, orange scissors, and a sink with soap dispensers on the right. A robotic arm is positioned at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves from the upper right toward the wooden chopsticks on the clear plastic container, grasps one chopstick, lifts and adjusts its position, places it back onto the clear container, then moves leftward away from the container.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 67, "tasks": ["place utensil"], "length": 273, "global_instruction": "Place the wooden chopstick on the kitchen counter into the transparent container.", "scene_description": "A grey speckled kitchen counter holds assorted condiment bottles on the left, a wooden chopstick in front of a transparent rectangular container, stacked bowls, a pink knife block, and a white cutting board near the sink, with a robotic arm at the top right and under-cabinet lighting above.", "global_instruction_dense": "The right robotic arm moves down toward the wooden chopstick on the kitchen counter, grasps the chopstick, lifts it, moves it over the transparent rectangular container, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 68, "tasks": ["place utensil"], "length": 210, "global_instruction": "Place a chopstick into the front light blue bowl holding small red items", "scene_description": "A kitchen countertop holds multiple condiment bottles on the left, a front light blue bowl with small red items, chopsticks on a clear plastic container, stacked light blue and dark bowls at the back, a pink knife block, a silver electric kettle, and a sink with soap dispensers to the right, with a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves left toward the chopsticks on the counter, grasps a single chopstick, lifts it, moves it over the front light blue bowl containing small red items, and releases the chopstick into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 69, "tasks": ["place utensil"], "length": 206, "global_instruction": "Pick up wooden chopsticks from the light blue bowl and place them on the kitchen counter", "scene_description": "A grey kitchen counter holds assorted condiment bottles on the left, light blue bowls, plates, scissors, wooden chopsticks, stacked dishware, a pink knife block, silver electric kettle, white cutting board, and a sink with soap dispensers on the right. A robotic arm is positioned at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves downward and leftward toward the light blue bowl on the counter, grasps the wooden chopsticks inside the bowl, lifts them, moves rightward above the counter, and releases the chopsticks onto the counter surface near the transparent plastic container.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 70, "tasks": ["place utensil"], "length": 356, "global_instruction": "Place the wooden chopsticks from the kitchen counter into the front light blue bowl", "scene_description": "A kitchen counter holds multiple glass condiment bottles with assorted colored caps on the left, light blue bowls, a silver electric kettle, pink knife block with cutlery, orange scissors, wooden chopsticks, stacked dishware, a clear plastic container, white mug, and white cutting board beside the sink at the right. A robotic arm is positioned at the top right above the sink area.", "global_instruction_dense": "The right robotic arm moves from its initial position at the top right of the frame toward the wooden chopsticks on the kitchen counter, grasps them, adjusts their position, and places them into the front light blue bowl on the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 71, "tasks": ["place utensil"], "length": 206, "global_instruction": "Pick up the chopsticks from the light blue bowl and place them into the white cup near the kitchen sink.", "scene_description": "A kitchen countertop holds condiment bottles on its left side, multiple light blue bowls, a clear plastic container, a silver electric kettle, a pink knife block, stacked tableware, scissors, and a white cup next to the sink on the right, with a robotic gripper above the counter.", "global_instruction_dense": "The right robotic gripper moves down toward the chopsticks resting in the light blue bowl on the left of the counter, grasps the chopsticks, lifts them, moves right toward the white cup near the sink, lowers the chopsticks, and releases them into the white cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 72, "tasks": ["place utensil"], "length": 249, "global_instruction": "Pick up the chopstick from the small beige cup and place it into the clear plastic container on the kitchen counter.", "scene_description": "Various condiment bottles, light blue and white bowls, a pink knife block, a silver electric kettle, orange scissors, a clear plastic container, and a small beige cup are arranged on a grey kitchen counter, with a robotic arm positioned at the upper right near the sink.", "global_instruction_dense": "The right robotic arm moves toward the small beige cup near the sink, grasps a long chopstick inside the cup, lifts the chopstick, moves it left over the clear plastic container on the counter, lowers the chopstick, and releases it into the clear plastic container.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 73, "tasks": ["place utensil"], "length": 197, "global_instruction": "Pick up a wooden chopstick from the kitchen counter and place it in a new position on the counter.", "scene_description": "A light grey kitchen counter holds assorted condiment bottles on its left, multiple light blue bowls, stacked dishware, clear plastic containers, and wooden chopsticks. A right robotic arm is positioned above the counter, with a sink, soap dispensers, electric kettle, knife block, and white cutting board in the background.", "global_instruction_dense": "The right robotic arm moves downward toward a wooden chopstick on the kitchen counter, grasps the chopstick with its gripper, lifts it, moves it horizontally to a new spot above the counter, then opens its gripper to release the chopstick onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 74, "tasks": ["place utensil"], "length": 646, "global_instruction": "Pick up the chopsticks on the clear plastic container and place them into the white cup near the sink.", "scene_description": "A kitchen counter holds various condiment bottles on the left, stacked light blue and dark bowls, a pink knife block, a silver electric kettle, a white cutting board, chopsticks on a clear plastic container, and cups near the sink on the right, with a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves left toward the chopsticks resting on the clear plastic container, grasps the chopsticks with its gripper, lifts them, moves right toward the white cup next to the sink, positions the chopsticks over the cup, and releases them into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 75, "tasks": ["place utensil"], "length": 303, "global_instruction": "Place the thin stick-shaped object into the brown McDonald's paper bag", "scene_description": "A brown McDonald's delivery paper bag with yellow handles is at the center of a light wooden table. To the bag's left are a black-and-white keyboard, a clear plastic bottle with a red label, and a blue packaged item. To the bag's right is a green beverage can. A wooden chair is behind the right side of the table, and a right robotic gripper is in the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the right side of the table, grasps a thin stick-shaped object, lifts it, moves it over the brown McDonald's delivery paper bag, lowers the stick into the bag, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 76, "tasks": ["place utensil"], "length": 367, "global_instruction": "Place a white plastic utensil into the clear plastic tray on the wooden table.", "scene_description": "A light brown wooden table against a white wall holds a black-and-white checkered calibration board, blue packaged item, clear plastic bottle with blue cap, green bagel-printed gift bag, assorted snacks, white paper towel roll, clear rectangular plastic tray, and small items. A light wooden slatted chair sits behind the table, with a white and gray robotic arm at the upper right above the table.", "global_instruction_dense": "The right robotic arm moves down toward the table, grasps a white plastic utensil, lifts and moves it over the clear plastic tray, releases the utensil into the tray, then grasps a small white paper slip and moves it toward the paper towel roll.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 77, "tasks": ["place utensil"], "length": 411, "global_instruction": "Pick the wooden stick near the kitchen sink and place it on the right side of the counter.", "scene_description": "Light wood upper cabinets are mounted above a granite kitchen counter that holds a stainless steel sink, white soap dispenser, silver pressure cooker, wooden cutting board, paper towel roll, tissue box, bottled drinks, and a green container, with a robotic arm on the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves left toward the kitchen sink, lowers to grasp the wooden stick near the sink, manipulates the stick above the sink area, moves rightward while holding the stick, and positions it on the counter to the right of the sink.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 78, "tasks": ["place utensil"], "length": 688, "global_instruction": "Pick a slotted spatula from the right silver utensil holder and place it on the kitchen counter.", "scene_description": "A speckled granite kitchen counter holds two silver perforated utensil holders; the right holder contains metal cooking utensils including slotted spatulas, the left holder holds dark-handled cooking tools, a stainless steel stove with a metal frying pan sits to the left of the holders, light wood upper cabinets are mounted above the counter, and a white-and-grey robotic arm is positioned to the right of the counter above the surface.", "global_instruction_dense": "The right robotic arm moves left toward the right silver perforated utensil holder on the kitchen counter, adjusts the utensils inside to access a slotted spatula, grasps the spatula, lifts it out of the holder, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 79, "tasks": ["place utensil"], "length": 185, "global_instruction": "Take a dark wooden spatula from the metal utensil holder and place it on the kitchen countertop.", "scene_description": "A speckled granite kitchen counter has two perforated metal utensil holders: the closer one holds dark cooking utensils, the further holds light-colored utensils. A stainless steel frying pan sits on the left stovetop, and a robotic arm is positioned at the right side of the frame, with light wood upper cabinets above the counter.", "global_instruction_dense": "The right robotic arm moves toward the closer metal utensil holder, grasps a dark wooden spatula, lifts it out of the holder, lowers it onto the granite countertop, releases it, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 80, "tasks": ["place utensil"], "length": 223, "global_instruction": "Retrieve a spatula from the metal utensil holder and place it on the kitchen counter.", "scene_description": "A kitchen granite countertop holds two perforated metal utensil holders filled with kitchen tools, next to a stovetop with a stainless steel frying pan under a mounted microwave, with a left robotic arm positioned at the right side of the counter.", "global_instruction_dense": "The left robotic arm moves toward the perforated metal utensil holder on the kitchen counter, grasps a dark slotted spatula, lifts it out of the holder, moves it to an empty section of the counter, lowers it, releases it onto the counter, then moves upward away from the surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 81, "tasks": ["place utensil"], "length": 407, "global_instruction": "Place a gray spatula from the kitchen counter into the silver utensil caddy.", "scene_description": "A kitchen counter holds a perforated silver utensil caddy filled with utensils, two gray flat spatulas resting on the countertop next to the caddy, a stainless steel frying pan sits on the stove to the left of the counter, with a microwave mounted above the stove and light wooden cabinets above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the gray spatulas on the kitchen counter, grasps one gray spatula, lifts and moves it over the silver utensil caddy, lowers the spatula into the caddy, and releases it to store the spatula with other utensils.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 82, "tasks": ["place utensil"], "length": 317, "global_instruction": "Place the black spatula from the kitchen counter into the metal utensil caddy.", "scene_description": "A speckled granite kitchen counter holds two perforated metal utensil caddies, a black spatula, and a stainless steel frying pan rests on a stove below an over-the-range microwave, with the right robotic gripper positioned above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the black spatula on the counter, grasps the spatula, lifts it, moves it over the metal utensil caddy, lowers it into the caddy, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 83, "tasks": ["place utensil"], "length": 480, "global_instruction": "Place dark brown wooden cooking utensils from the perforated metal holder onto the kitchen counter.", "scene_description": "A granite kitchen counter sits adjacent to a stainless steel stove with a silver frying pan on the stovetop. Two perforated metal utensil holders rest on the counter: the left holder holds light blue and metallic cooking utensils, the right holder holds dark brown wooden cooking utensils. A white robotic arm is positioned above the right utensil holder.", "global_instruction_dense": "The right robotic gripper repeatedly reaches into the right perforated metal utensil holder on the kitchen counter, grasps individual dark brown wooden cooking utensils, drops them back into the holder multiple times, then successfully grasps one utensil, moves it over the counter, releases it onto the counter surface, and moves upward away from the placed utensil.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 84, "tasks": ["place utensil"], "length": 593, "global_instruction": "Retrieve cooking utensils from the utensil caddy and place them on the kitchen countertop.", "scene_description": "A granite kitchen countertop holds a perforated stainless steel utensil caddy filled with assorted cooking utensils, a stainless steel frying pan sits on the stovetop to the left of the caddy, and a robotic arm is positioned above the caddy.", "global_instruction_dense": "The right robotic arm reaches into the stainless steel utensil caddy, grasps a cooking utensil, lifts and moves it to the empty counter area and releases it, then repeats the process to grasp and place a second cooking utensil on the countertop.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 85, "tasks": ["place utensil"], "length": 721, "global_instruction": "Pick up the dark spatula from the kitchen counter and place it into the metal utensil holder.", "scene_description": "A granite kitchen counter holds a stove with a metal pan on its burner, two perforated metal utensil holders filled with kitchen tools, and two wooden utensils laid on the counter to the right of the holders. A white and grey robotic arm is positioned above the right side of the counter.", "global_instruction_dense": "The left robotic arm moves toward the dark spatula on the granite kitchen counter, grasps it, briefly drops it, re-grasps and adjusts its grip on the spatula, lifts it, moves it over the perforated metal utensil holder beside the stove, lowers it, and releases it into the holder.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 86, "tasks": ["place utensil"], "length": 280, "global_instruction": "Take a black slotted spatula from the utensil caddy and place it on the kitchen counter.", "scene_description": "A speckled granite kitchen counter holds a stainless steel perforated utensil caddy filled with cooking utensils, a stainless steel frying pan sits on the stovetop to the caddy's left, a robotic arm is positioned above the counter, and wooden cabinets with a mounted microwave are above the stove.", "global_instruction_dense": "The left robotic arm moves toward the stainless steel utensil caddy, grasps the black slotted spatula inside it, lifts the spatula out of the caddy, moves it over the empty counter space to the right of the caddy, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 87, "tasks": ["place utensil"], "length": 314, "global_instruction": "Pick up the dark spatula from the countertop and place it into the stainless steel utensil caddy.", "scene_description": "A kitchen granite countertop holds a perforated stainless steel utensil caddy filled with cooking tools, a metal frying pan on the stovetop to the left, and a dark silicone spatula resting on the counter, with a robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the dark spatula on the kitchen counter, grasps it, lifts it upward, moves it over the stainless steel utensil caddy, lowers it into the caddy, and releases the spatula.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 88, "tasks": ["place utensil"], "length": 204, "global_instruction": "Take the flat grey spatula from the utensil caddy and place it on the kitchen countertop.", "scene_description": "A granite kitchen counter holds a perforated stainless steel utensil caddy filled with cooking tools, with a flat grey spatula at the front of the caddy. A stainless steel frying pan sits on the stovetop to the left of the caddy, and a robotic arm is positioned above the counter to the right.", "global_instruction_dense": "The right robotic gripper moves toward the utensil caddy, grasps the flat grey spatula, lifts it out of the caddy, moves it over the adjacent empty counter space, lowers it, releases it to rest on the counter, then retracts upward away from the placed spatula.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 89, "tasks": ["place utensil"], "length": 420, "global_instruction": "Pick up the dark brown spatula from the counter and place it into the metal utensil holder.", "scene_description": "A kitchen counter holds a stainless steel frying pan on the left stove, a perforated metal utensil holder with assorted utensils in the center, a dark brown spatula lying on the counter to the holder's right, and a white robotic arm on the right edge of the frame, with wooden cabinets above the counter.", "global_instruction_dense": "The right robotic arm first moves toward the dark brown spatula on the kitchen counter, grasps it briefly before dropping it, then re-grasps the spatula, lifts it, moves it over the metal utensil holder, and releases it into the holder.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 90, "tasks": ["place utensil"], "length": 286, "global_instruction": "Pick a dark spatula from the utensil holder and place it on the kitchen counter", "scene_description": "A stainless steel frying pan rests on a stovetop left of a granite kitchen counter. A perforated silver utensil holder filled with kitchen tools, a round light brown coaster, and light wooden overhead cabinets are on/above the counter, with a white robotic arm positioned at the counter's right edge.", "global_instruction_dense": "The right robotic arm moves from its initial upper right position toward the utensil holder, grasps a dark spatula from the holder, lifts and moves it over the counter, lowers it, releases it onto the counter, then moves upward away from the placed spatula.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 91, "tasks": ["place utensil"], "length": 297, "global_instruction": "Pick up the dark wooden spatula from the countertop and place it into the perforated metal utensil holder.", "scene_description": "A kitchen granite countertop has a silver frying pan on the stove to the left, two utensil holders (one with metal cooking tools, one perforated metal holder with dark utensils), a dark wooden spatula next to a round brown coaster, and a robotic arm above the counter.", "global_instruction_dense": "The left robotic gripper moves downward toward the dark wooden spatula on the countertop, grasps it, lifts it, moves it over the perforated metal utensil holder, lowers it into the holder, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 92, "tasks": ["place utensil"], "length": 342, "global_instruction": "Take a dark spatula from the stainless steel utensil holder and place it on the kitchen counter.", "scene_description": "A stainless steel frying pan sits on a stovetop to the left, a glass utensil holder with metal tools and a perforated stainless steel utensil holder with dark utensils are placed on a granite kitchen countertop, a right robotic arm is positioned above the counter near the stainless steel utensil holder.", "global_instruction_dense": "The right robotic arm moves toward the perforated stainless steel utensil holder on the granite counter, grasps a dark spatula from inside the holder, lifts it out, moves it over the counter surface, lowers it, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 93, "tasks": ["place utensil"], "length": 597, "global_instruction": "Stack the two white shallow bowls on the kitchen counter and place the metal utensils into the stacked bowls.", "scene_description": "Light wooden upper cabinets are positioned above a speckled granite kitchen counter. On the counter, left to right: two clear plastic water bottles, a black countertop beverage maker, a clear empty tall glass, a small silver cooking appliance, a glass bowl of yellow citrus fruit, two separate white shallow bowls, a tray of onions and assorted produce, and multiple metal utensils are arranged, with no robotic arm visible.", "global_instruction_dense": "The right robotic arm enters from the right of the frame, grasps the left white shallow bowl, lifts and places it on top of the right white shallow bowl to stack them, then grasps each metal utensil from the counter sequentially, and places each utensil inside the stacked white bowls.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 94, "tasks": ["place utensil"], "length": 552, "global_instruction": "Place all cutlery from the countertop papers into the open drawer.", "scene_description": "A dark marble countertop holds a black electric kettle at left, a small white cup behind the kettle, a stack of white and red papers with cutlery on top at center, and an open light wood drawer with orange lining at the right; the background is an office space with furniture and a yellow door.", "global_instruction_dense": "The right robotic arm moves toward the cutlery on the countertop papers, sequentially grasps a black knife, a silver fork, and a silver knife from the papers, moves each item into the open drawer, and releases them to store all cutlery in the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 95, "tasks": ["place utensil"], "length": 509, "global_instruction": "Place the two silver utensils on the countertop papers into the open wooden drawer.", "scene_description": "A black electric kettle, a small white cup, a stack of white papers with two silver utensils on top, and an orange napkin are placed on a dark marble kitchen countertop. An open wooden drawer with a red interior liner sits to the right of the papers.", "global_instruction_dense": "The right robotic gripper moves toward the silver utensils on the countertop papers, first grasps a silver fork, lifts and places it into the open wooden drawer, then moves back to grasp a silver knife, lifts and places it into the open drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 96, "tasks": ["place utensil"], "length": 497, "global_instruction": "Place the fork and knife on the countertop into the open wooden drawer.", "scene_description": "A black electric kettle, small white cup, white napkins, silver fork, silver knife and red napkins rest on a dark marbled countertop, with an open wooden drawer with red interior lining on the counter's right side.", "global_instruction_dense": "The right robotic arm grasps the fork from the counter, moves it to the open drawer and places it inside, then grasps the knife from the counter, moves it to the drawer and places it inside next to the fork.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 97, "tasks": ["place utensil"], "length": 612, "global_instruction": "Place the silver utensils on the dark countertop into the open light wooden drawer.", "scene_description": "A black electric kettle, small white cup, red napkin, stack of white papers, and silver metal utensils rest on a dark marble countertop. An open light wooden drawer with red interior lining sits on the right side of the countertop, with a kitchen/office background including cabinets and a yellow door visible in the distance.", "global_instruction_dense": "The right robotic arm moves toward the silver utensils on the countertop, grasps a silver knife, moves it to the open wooden drawer, releases it into the drawer, then grasps a silver utensil, moves it to the drawer, and releases it into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 98, "tasks": ["place utensil"], "length": 494, "global_instruction": "Place the metal fork and knife on the countertop into the open wooden drawer.", "scene_description": "A dark marble kitchen countertop holds a black electric kettle on the left, a white cup resting on a red mat to the kettle's right, a metal knife and fork on the counter further right, and an open empty wooden drawer at the far right edge of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the metal fork on the counter, grasps it, lifts and moves it to the open wooden drawer to release it inside, then moves back to the counter to grasp the metal knife, lifts and moves it to the drawer to release it inside, then moves away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 99, "tasks": ["place utensil"], "length": 309, "global_instruction": "Place the metal fork and knife from the countertop into the open wooden drawer.", "scene_description": "A black electric kettle, a white cup on a red coaster, a metal fork and a metal knife are placed on a dark marble kitchen countertop. An open wooden drawer is positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the fork on the counter, grasps it, moves it to the open drawer and releases it, then grasps the knife, moves it to the drawer and releases it, placing both utensils inside the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 100, "tasks": ["place utensil"], "length": 374, "global_instruction": "Place the metal fork and knife on the kitchen counter into the open upper drawer.", "scene_description": "A dark marble kitchen counter holds a black electric kettle, a white cup on a red mat, a metal fork, and a metal knife. Two open drawers are below the counter: the lower drawer holds a red plate, the upper drawer has a white rectangular tray inside, and a trash bin is behind the counter edge.", "global_instruction_dense": "The right robotic arm moves into the scene, grasps the fork on the counter, transfers it to the open upper drawer and releases it, then grasps the knife on the counter, transfers it to the same open drawer and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 101, "tasks": ["place utensil"], "length": 569, "global_instruction": "Place utensils from the black countertop utensil holder into the organizer tray in the open drawer below the counter.", "scene_description": "A dark marble kitchen countertop holds a large black-and-silver appliance on the left, a black gooseneck kettle, a white mug on a red square mat, and a black rectangular utensil holder from left to right. An open wooden drawer with an empty organizer tray sits below the counter, and a trash bin is visible in the background.", "global_instruction_dense": "The right robotic gripper moves to the black countertop utensil holder, grasps a knife, carries it to the open drawer below the counter and releases it into the organizer tray, then returns to the holder to grasp a fork, carries the fork to the drawer and releases it into the tray next to the knife.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 102, "tasks": ["place utensil"], "length": 233, "global_instruction": "Place a metallic utensil from the black counter organizer into the open under-counter drawer.", "scene_description": "A dark marble kitchen counter holds a black coffee maker, an orange-capped creamer bottle, a black pour kettle, a white mug on a red mat, and a black utensil organizer. An open white drawer sits under the counter next to a white trash bin.", "global_instruction_dense": "The right robotic arm moves to the black utensil organizer on the counter, grasps a metallic utensil, lifts it, moves over the open drawer, and releases the utensil into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 103, "tasks": ["place utensil"], "length": 410, "global_instruction": "Place a metal utensil from the black countertop organizer into the open drawer below the counter.", "scene_description": "A dark marble-patterned kitchen counter holds a large black coffee maker on the far left, a black electric kettle next to it, an orange-lidded container, a black 3-compartment organizer, and an open white drawer below the counter with a red-and-white item inside its inner compartment.", "global_instruction_dense": "The right robotic gripper moves toward the black 3-compartment organizer on the countertop, grasps the metal utensil inside it, lifts the utensil, moves it toward the open drawer, and releases the utensil into the drawer's inner compartment.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 104, "tasks": ["place utensil"], "length": 245, "global_instruction": "Place the wooden spatula from the countertop into the dishwasher rack.", "scene_description": "An open dishwasher with a pulled-out wire rack holding clear containers is below a white countertop. The countertop holds a white pan, blue dishware, and a wooden spatula. The left foreground has the robot's control unit with blue and purple lights, and part of the robotic gripper is visible at the top edge.", "global_instruction_dense": "The right robotic arm moves down to the countertop, grasps the wooden spatula, lifts it, moves it over the open dishwasher rack, lowers it, and releases it into the rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 105, "tasks": ["place utensil"], "length": 424, "global_instruction": "Take the red spatula from the dishwasher rack and place it on the kitchen counter above the dishwasher.", "scene_description": "An open dishwasher with a metal pull-out rack holding a red spatula and other dishes sits below a white kitchen counter holding metal bowls, a blue sponge, and other kitchen items; a robotic arm base with blue indicator lights is positioned to the left of the frame.", "global_instruction_dense": "The right robotic arm moves down toward the dishwasher rack, grasps the red spatula, lifts it upward, moves it to the white kitchen counter above the dishwasher, lowers the spatula onto the counter, releases it, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 106, "tasks": ["place utensil"], "length": 2065, "global_instruction": "Pick up all silver cutlery from the table and place them into the white compartmentalized tray.", "scene_description": "A black round table holds multiple pieces of silver cutlery on its left side, a white compartmentalized tray, a gray mug, and a blue cloth on its right side, with kitchen pots and a white basket near the window in the background, and a single robotic arm positioned to the left of the table.", "global_instruction_dense": "The robotic arm sequentially moves to each piece of silver cutlery on the left portion of the black table, grasps each piece, lifts it, moves it to the white compartmentalized tray on the right side of the table, releases the cutlery into the tray, and returns to pick up the next piece until all cutlery is placed in the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 107, "tasks": ["place utensil"], "length": 2242, "global_instruction": "Place all scattered metal cutlery from the table into the white segmented sorting tray.", "scene_description": "A black round table has scattered silver metal cutlery (forks, spoons, knives) on its left half, a white segmented sorting tray positioned behind the cutlery, a folded blue cloth to the right of the tray, a gray ceramic mug next to the cloth, and a white paper towel roll on the far right edge of the table. A white robotic arm with a black gripper is positioned to the left of the table, and a window with vertical blinds and a white laundry basket are visible in the background.", "global_instruction_dense": "The left robotic arm repeatedly grasps individual pieces of scattered silver cutlery from the black table surface, lifts each piece, moves it over the white segmented sorting tray, releases it into the tray, and repeats until all cutlery is sorted into the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 108, "tasks": ["place utensil"], "length": 1920, "global_instruction": "Place all silver utensils from the black table into the compartments of the white cutlery tray.", "scene_description": "A black round table has a set of silver utensils (spoons, forks, knives) on its left side and a white segmented cutlery tray on its right side. A robotic arm is positioned at the left edge of the frame, with a window with vertical blinds in the background.", "global_instruction_dense": "The right robotic arm moves over the black round table, grasps each silver utensil individually, lifts each utensil, moves it over the white segmented cutlery tray, and releases it into the appropriate compartment until all utensils are sorted into the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 109, "tasks": ["place utensil"], "length": 2045, "global_instruction": "Place all cutlery from the blue cloth into the white divided cutlery tray.", "scene_description": "A dark round table holds a blue cloth with silver cutlery on top, a white divided cutlery tray to the right of the cloth, a window with blinds in the background, and a white robotic arm positioned on the left side of the table.", "global_instruction_dense": "The left robotic arm repeatedly moves down to the blue cloth, grasps individual pieces of silver cutlery, lifts each piece to the white divided tray, releases it into the appropriate compartment, and moves back to the cloth until all cutlery is placed in the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 110, "tasks": ["place utensil"], "length": 1537, "global_instruction": "Place each piece of scattered silver cutlery from the table into the corresponding compartment of the white cutlery organizer tray.", "scene_description": "A dark round table has scattered silver cutlery (spoons, forks, knives) on its left half, a white 4-compartment cutlery organizer tray on its right half, a gray cloth and stainless steel pot behind the tray, with vertical blinds covering the window in the background.", "global_instruction_dense": "The right robotic arm moves repeatedly over the scattered silver cutlery on the left of the dark round table, grasps each utensil (spoons, forks, then knives) individually, lifts each, moves to the matching compartment of the white cutlery organizer tray on the right of the table, lowers the utensil, and releases it into the correct compartment until all cutlery is sorted.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 111, "tasks": ["place utensil"], "length": 1652, "global_instruction": "Pick up the loose silver cutlery from the black table and place each piece into the white divided cutlery organizer tray.", "scene_description": "A black round table has loose silver spoons, forks, and knives on its left half, a white divided cutlery organizer tray on its right half, a gray cloth, metal pot, and white plastic basket at the table's back, with vertical blinds on the window behind the table.", "global_instruction_dense": "The single robotic arm moves down to the loose silver cutlery on the black table, sequentially grasps individual spoons, forks, and knives, moves each piece to the white divided cutlery organizer tray on the right side of the table, and releases each cutlery piece into the tray until all loose cutlery is stored in the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 112, "tasks": ["place utensil"], "length": 1392, "global_instruction": "Place the scattered silver cutlery on the black round table into the white divided cutlery tray.", "scene_description": "A black round table holds scattered silver cutlery (knives, forks, spoons), a white divided cutlery tray, a dark grey mug, and a metal pot with a blue cloth behind it. A living area with a grey sofa, TV, and window is in the background, with the robotic arm base on the left frame edge.", "global_instruction_dense": "The left robotic arm moves over the black round table, grasps each piece of scattered silver cutlery one by one, moves each piece to the white divided cutlery tray, and releases them into the tray until all cutlery is sorted.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 113, "tasks": ["place utensil"], "length": 1945, "global_instruction": "Place all scattered metal cutlery into the appropriate compartments of the white divided tray on the table.", "scene_description": "A black round table has scattered metal cutlery (spoons, forks, knives) on its left half and a white divided cutlery storage tray on its right half; a gray cloth and metal pot sit behind the tray, with a living room visible in the background, and the base of a robotic arm is at the left edge of the frame.", "global_instruction_dense": "The left robotic arm sequentially grasps each piece of scattered metal cutlery from the left half of the black table, moves each piece to the white divided cutlery tray on the right half of the table, and places each into the corresponding compartment of the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 114, "tasks": ["place utensil"], "length": 1524, "global_instruction": "Place all scattered silver cutlery from the black table into the white segmented cutlery tray.", "scene_description": "A black round table holds scattered silver cutlery (forks, knives, spoons), a white segmented cutlery tray, a grey cloth, a stainless steel pot, and a white plastic basket on the right. The base of a white robotic arm is visible on the left edge, and the background is a residential living room with a light grey couch, TV, and window with vertical blinds.", "global_instruction_dense": "The left robotic arm sequentially grasps scattered silver forks, knives, and spoons from the black table, moves each piece to the corresponding compartment of the white segmented cutlery tray, and releases it into the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 115, "tasks": ["place utensil"], "length": 1042, "global_instruction": "Remove silver utensils from the white cutlery tray and place them on the black tabletop.", "scene_description": "A black round table holds a white cutlery tray filled with silver utensils, a gray mug, a roll of white paper towels, and a silver cooking pot behind the tray. A living area with light-colored sofas, a TV, and vertical window blinds is visible in the background.", "global_instruction_dense": "The right robotic arm descends toward the white cutlery tray on the black table, grasps individual silver utensils one at a time, lifts each utensil, moves it to the open surface of the table, and releases the utensil onto the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 116, "tasks": ["place utensil"], "length": 432, "global_instruction": "Place the three silver utensils from the black table into the white cutlery tray.", "scene_description": "A black round table holds a white segmented cutlery tray, three silver utensils (fork, spoon, knife) to the left of the tray, a gray mug, a roll of paper towels, a silver cooking pot, and a blue cloth, with a living room area visible in the background.", "global_instruction_dense": "The right robotic gripper sequentially grasps the silver fork, spoon, and knife from the black table, moves each item to the white cutlery tray, and releases them into the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 117, "tasks": ["place utensil"], "length": 1290, "global_instruction": "Remove metal utensils from the white cutlery tray and place them on the black tabletop.", "scene_description": "A black round table holds a white cutlery tray filled with metal utensils, a white paper towel roll, a gray mug, and a silver pot with a blue cloth beside it, with a living room visible in the background.", "global_instruction_dense": "The left robotic arm moves to the white cutlery tray, sequentially grasps a fork, a spoon, and a knife, and places each metal utensil onto the empty surface of the black round table before retracting away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 118, "tasks": ["place utensil"], "length": 1575, "global_instruction": "Place all scattered silver cutlery from the black table into the white divided cutlery tray.", "scene_description": "A black round table holds scattered silver cutlery on its left half, a white divided cutlery tray to the right of the cutlery, a gray mug next to the tray, and a paper towel roll on the far right, with a living room in the background.", "global_instruction_dense": "A single robotic arm enters the frame, moves over the scattered silver cutlery on the left of the black table, grasps each piece of cutlery one by one with its black gripper, moves each piece to the white cutlery tray on the right of the table, and releases each piece into the tray's compartments.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 119, "tasks": ["place utensil"], "length": 1340, "global_instruction": "Place all scattered silver cutlery from the table into the white multi-compartment cutlery tray.", "scene_description": "A black round table holds scattered silver cutlery (knives, forks, spoons), a white multi-compartment cutlery tray, a gray mug, and a roll of paper towels, with a living area containing sofas, chairs, and windows with vertical blinds in the background.", "global_instruction_dense": "The right robotic gripper repeatedly descends to grasp individual pieces of scattered silver cutlery from the black table, lifts each piece, moves it over the corresponding compartment of the white cutlery tray, and releases it into the tray until all cutlery is sorted.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 120, "tasks": ["place utensil"], "length": 1956, "global_instruction": "Place scattered silver utensils from the black table into the white segmented tray.", "scene_description": "A black round table holds scattered silver utensils, a white segmented plastic tray, a grey mug, and a pressure cooker, with a living room visible in the background.", "global_instruction_dense": "The single robotic gripper sequentially moves to each scattered silver utensil on the black table, grasps each utensil, lifts and moves it over the white segmented tray, and releases each utensil into the tray compartments.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 121, "tasks": ["place utensil"], "length": 2302, "global_instruction": "Place the scattered silver cutlery from the black table into the white compartmentalized tray.", "scene_description": "A black round kitchen table holds scattered silver cutlery (forks, spoons, knives), a dark grey cloth, a 3-compartment white tray, a grey mug, a stainless steel thermos, a lidded frying pan, and a stainless steel pot. A left robotic arm is positioned at the left of the table, with a window with white blinds and kitchen counter in the background.", "global_instruction_dense": "The left robotic arm moves over the black kitchen table, grasps each piece of scattered silver cutlery individually, lifts each piece, moves it to the white 3-compartment tray, and releases each cutlery piece into the tray compartment.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 122, "tasks": ["place utensil"], "length": 1586, "global_instruction": "Sort all scattered silver utensils on the black table into the separate compartments of the white organizer tray.", "scene_description": "A black round table holds a scattered pile of silver utensils, a four-section white plastic organizer tray, a gray cloth napkin, a gray mug, a dark insulated water bottle, and a lidded frying pan, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm repeatedly moves to the pile of scattered silver utensils, grasps one utensil at a time, transfers it to the corresponding compartment of the white segmented organizer tray on the table, and releases the utensil into the compartment until all utensils are sorted.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 123, "tasks": ["place utensil"], "length": 922, "global_instruction": "Place all silver utensils from the black table into the appropriate compartments of the white divided cutlery tray.", "scene_description": "A black round kitchen table holds four silver utensils (two forks, two knives), a white divided cutlery tray, a folded gray cloth, a stainless steel lidded pot, a dark gray mug, a black insulated thermos, and a lidded frying pan, with a window with vertical white blinds in the background.", "global_instruction_dense": "The left robotic arm moves from its initial position at the left side of the scene, reaches each silver utensil on the black table one by one, grasps each utensil, lifts it, moves it to the correct compartment of the white cutlery tray, and releases it into the compartment until all utensils are sorted in the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 124, "tasks": ["place utensil"], "length": 1890, "global_instruction": "Place the scattered silver cutlery from the black table into the white segmented cutlery tray.", "scene_description": "A black round kitchen table has scattered silver cutlery on its left, a white segmented cutlery tray behind the cutlery, plus a gray mug, black insulated water bottle, lidded frying pan, stainless steel pot, and gray cloth napkin arranged on the right and rear of the table, with a robotic arm mounted to the left of the table out of initial view.", "global_instruction_dense": "The left robotic arm extends from the left of the frame, sequentially grasps individual scattered silver cutlery pieces from the black table, moves each piece to the white segmented cutlery tray, places each into a compartment, and retracts after completing placements.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 125, "tasks": ["place utensil"], "length": 1740, "global_instruction": "Place all loose silver cutlery on the black table into the white segmented cutlery tray.", "scene_description": "A black round dining table holds a white segmented cutlery tray, loose silver cutlery (forks, spoons, knives) in front of the tray, a gray mug, a black insulated water bottle, a lidded frying pan, and a stainless steel pot behind the tray, with a robotic arm initially positioned above the left side of the table.", "global_instruction_dense": "The right robotic arm moves down to the pile of loose silver cutlery on the black table, sequentially grasps each piece of cutlery (spoons, forks, knives), lifts each piece, moves it to the appropriate compartment of the white segmented cutlery tray, and releases it until all loose cutlery is stored in the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 126, "tasks": ["place utensil"], "length": 1870, "global_instruction": "Place pieces of silver cutlery from the table pile into the compartments of the white cutlery tray.", "scene_description": "A black round table holds a pile of silver cutlery, a white segmented cutlery tray, a gray cloth, a small stainless steel pot, a dark gray mug, a black insulated water bottle, a lidded frying pan, and a white plastic basket near the window; a white robotic arm base is visible on the left edge of the frame.", "global_instruction_dense": "The left robotic gripper picks individual pieces of silver cutlery from the pile on the black table, moves each piece to the appropriate compartment of the white segmented cutlery tray, releases the cutlery into the compartment, repeats this sorting process for multiple cutlery pieces, then returns to a resting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 127, "tasks": ["place utensil"], "length": 1648, "global_instruction": "Place all scattered silver cutlery on the black round table into the white multi-compartment cutlery tray.", "scene_description": "A black round table holds scattered silver cutlery (spoons, forks, knives), a white multi-compartment cutlery tray, a stainless steel thermos, a gray mug, and a lidded frying pan. A single robotic arm is positioned at the left edge of the frame, with a living area (TV, potted plant) and a window with vertical blinds in the background.", "global_instruction_dense": "The single robotic gripper moves toward the scattered silver cutlery on the black round table, grasps each piece of cutlery sequentially, lifts each piece, moves it over the white multi-compartment cutlery tray, and releases it into the appropriate compartment of the tray until all cutlery is sorted into the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 128, "tasks": ["place utensil"], "length": 636, "global_instruction": "Pick cutlery from the white cutlery tray and place them on the black table surface.", "scene_description": "A black round table holds white segmented cutlery trays filled with silverware, a gray mug, a stainless steel lidded pot, a black insulated water bottle, and a white plastic drain basket, with a window with vertical white blinds in the background.", "global_instruction_dense": "The left robotic arm extends into the frame above the cutlery tray, sequentially grasps a fork, spoon, and knife from the tray, and places each piece of cutlery onto the black table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 129, "tasks": ["place utensil"], "length": 1800, "global_instruction": "Place all scattered silver cutlery on the black table into the white divided cutlery tray.", "scene_description": "A black round table holds a white divided cutlery tray with partial cutlery inside, scattered silver cutlery (forks, knives, spoons) on the table surface, a dark grey mug, a lidded stainless steel pot, a black insulated water bottle, and a white plastic drain basket. A robotic arm base with clamps is visible to the left of the table.", "global_instruction_dense": "The robotic arm moves above the scattered silver cutlery on the black table, grasps individual pieces of cutlery with its gripper, lifts each piece, moves it to the white divided cutlery tray, releases the piece into the appropriate compartment of the tray, and repeats this process until all scattered cutlery is sorted into the tray, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 130, "tasks": ["place utensil"], "length": 1332, "global_instruction": "Pick up scattered silver utensils from the table and place them into the white divided tray.", "scene_description": "A black round table holds a white divided utensil tray, scattered silver spoons, knives, forks, a dark gray mug, a stainless steel pot with a lid, a plastic drying rack, and a dark water bottle.", "global_instruction_dense": "The robotic arm sequentially moves to scattered silver utensils on the black round table, grasps each utensil, lifts it, moves it to the white divided utensil tray, and releases it into the appropriate compartment of the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 131, "tasks": ["place utensil"], "length": 486, "global_instruction": "Remove silver utensils from the white cutlery tray and place them on the black table surface.", "scene_description": "A black round table holds a white segmented cutlery tray with silver utensils, a dark grey mug, a stainless steel lidded pot, a white plastic colander, a dark grey water bottle, and a blue cloth. A robotic arm base is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm descends toward the white cutlery tray on the black table, grasps a fork, lifts and moves it to place on the table, then grasps a spoon, lifts and moves it to place on the table, then grasps two knives, lifts and moves them to place on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 132, "tasks": ["place utensil"], "length": 469, "global_instruction": "Place all silver cutlery from the black table into the white compartmentalized cutlery tray.", "scene_description": "A round black table holds a white compartmentalized cutlery tray, three silver utensils (butter knife, fork, spoon) to the right of the tray, a dark grey mug, a lidded stainless steel pot, a white plastic basket, a dark grey water bottle, and a small cooking pot near the window with vertical blinds. The robotic arm base is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm extends over the black round table, sequentially grasps a butter knife, a fork, and a spoon from the table surface, and places each piece of cutlery into the white compartmentalized cutlery tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 133, "tasks": ["place utensil"], "length": 583, "global_instruction": "Place utensils from the white compartmentalized tray onto the gray cloth on the black table.", "scene_description": "A round black table holds a white compartmentalized utensil tray with forks, spoons, knives, a gray folded cloth, a stainless steel pot with lid, a gray mug, a white plastic basket, a black water bottle, and a frying pan. A window with vertical blinds is in the background, and robot equipment is visible to the left of the table.", "global_instruction_dense": "The right robotic arm moves over the white utensil tray on the black round table, sequentially grasps a fork, a spoon, and a knife from separate compartments of the tray, lifts each utensil, moves each over the gray cloth on the table, and releases each utensil onto the cloth.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 134, "tasks": ["place utensil"], "length": 892, "global_instruction": "Place utensils from the white cutlery organizer onto the folded light blue cloth on the table.", "scene_description": "A black round table holds a white segmented cutlery organizer with silver utensils, a folded light blue cloth, a stainless steel lidded pot, a gray mug, a white plastic drain basket, a dark insulated water bottle, and a small black-handled cooking pan. A robotic arm is positioned at the top left of the frame above the table.", "global_instruction_dense": "The left robotic arm moves down to the white cutlery organizer on the black table, sequentially grasps a fork, a spoon, and a knife from the organizer, moves each utensil over the folded light blue cloth, and releases each utensil to rest on the cloth.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 135, "tasks": ["place utensil"], "length": 554, "global_instruction": "Place the silver cutlery from the blue cloth into the white divided cutlery tray.", "scene_description": "A black round table holds a light blue cloth with a silver fork, spoon, and knife placed on it, a white divided cutlery tray, a dark grey mug, a silver lidded pot, a black water bottle, and a small white plastic basket, with a robotic arm base positioned to the left of the table.", "global_instruction_dense": "The left robotic arm sequentially grasps the silver fork, spoon, and knife from the light blue cloth on the black table, moves each piece to the white divided cutlery tray, and places them into their respective compartments.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 136, "tasks": ["place utensil"], "length": 1862, "global_instruction": "Place all kitchen utensils from the black table into the stainless steel cylindrical cup.", "scene_description": "A black round table has a pile of assorted kitchen utensils (wooden spoons, silicone spatulas, metal tongs) on its left half, a stainless steel cylindrical cup behind the utensil pile, a gray mug, white plastic colander, lidded metal pots, and a folded light blue towel on the right half of the table, with a white robotic arm base positioned to the left of the table.", "global_instruction_dense": "The left robotic arm sequentially grasps each kitchen utensil from the pile on the black round table, lifts each utensil, moves it over the stainless steel cylindrical cup behind the utensil pile, and releases the utensil into the cup until all utensils are stored inside the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 137, "tasks": ["place utensil"], "length": 1211, "global_instruction": "Place all scattered cooking utensils on the black round table into the stainless steel cylindrical container.", "scene_description": "A black round table holds scattered wooden and silicone cooking utensils, a stainless steel cylindrical container, a gray mug, a white plastic colander, stacked cookware, and a folded blue towel. A left robotic arm is positioned to the left of the table on a silver workbench.", "global_instruction_dense": "The left robotic arm sequentially grasps each scattered cooking utensil from the black round table, lifts each utensil, moves it over the stainless steel cylindrical container, and releases it into the container until all targeted utensils are stored inside.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 138, "tasks": ["place utensil"], "length": 1878, "global_instruction": "Place all of the kitchen utensils laid out on the left side of the black table into the silver metal utensil holder on the right side of the table.", "scene_description": "A black round kitchen table has an assortment of kitchen utensils (light brown wooden spoons, a light blue silicone spoon, metal tongs, and smaller brown wooden utensils) laid out on its left side. A tall empty silver metal utensil holder sits to the right of the laid utensils, and a robotic arm is positioned above the left edge of the table, with background items including a grey mug, a lidded pan, a white plastic basket, and black chairs by a bright window.", "global_instruction_dense": "The robotic arm moves sequentially to each kitchen utensil laid on the left portion of the black table, grasps each utensil with its gripper, lifts the utensil, transports it to the silver metal utensil holder on the right side of the table, and releases it into the holder until all laid-out utensils are stored inside the holder.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 139, "tasks": ["place utensil"], "length": 2481, "global_instruction": "Place all scattered kitchen utensils on the black table into the cylindrical silver metal utensil holder.", "scene_description": "A black round kitchen table has assorted scattered kitchen utensils (wooden, plastic, metal) on its left half, a cylindrical silver metal utensil holder on its right half, with a frying pan, gray mug, white plastic basket, black water bottle, and covered metal pot in the background, and a white robotic arm positioned at the left edge of the table.", "global_instruction_dense": "The left robotic arm sequentially grasps each scattered kitchen utensil from the black table, lifts each utensil, moves it over the cylindrical silver metal utensil holder, and releases it into the holder until all targeted utensils are stored in the holder.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 140, "tasks": ["place utensil"], "length": 3184, "global_instruction": "Place utensils from the gray drying rack into the matching compartments of the white cutlery tray.", "scene_description": "A black table holds a gray plastic utensil drying rack at its rear, a white divided cutlery tray (with compartments for different utensil types) in its center, plus a white bowl, gray tape, and a lidded pot on its right; a robotic manipulator is positioned left of the table.", "global_instruction_dense": "The robotic arm repeatedly reaches into the gray utensil drying rack at the back of the table, grasps individual knives, forks, and spoons, moves each to the corresponding compartment of the white divided cutlery tray, and releases the utensil into the correct section to sort all retrieved cutlery.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 141, "tasks": ["place utensil"], "length": 1482, "global_instruction": "Place utensils from the gray cutlery rack into the matching compartments of the white cutlery tray.", "scene_description": "A black round table holds a white compartmentalized cutlery tray filled with silver spoons, forks, knives, and chopsticks, a gray slotted cutlery rack holding utensils to the tray's right, a white bowl, a dark water bottle, and other kitchenware in the background.", "global_instruction_dense": "The right robotic arm repeatedly moves to the gray slotted cutlery rack, grasps individual utensils including spoons, forks, and knives, lifts each utensil, moves it to the corresponding compartment in the white cutlery tray, and releases the utensil into the compartment.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 142, "tasks": ["place utensil"], "length": 691, "global_instruction": "Place utensils from the grey slotted dish rack into their matching compartments in the adjacent white cutlery tray.", "scene_description": "A black round table holds a grey slotted dish rack filled with utensils, a white compartmentalized cutlery tray, a white ceramic bowl, and a metal cooking pot. The cutlery tray is positioned to the left of the dish rack.", "global_instruction_dense": "The right robotic gripper sequentially grasps a spoon, a knife, and a fork from the grey slotted dish rack, moves each utensil to its corresponding compartment in the white cutlery tray, and releases each utensil into the appropriate compartment.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 143, "tasks": ["place utensil"], "length": 596, "global_instruction": "Place cutlery retrieved from the gray cutlery basket into the white partitioned cutlery tray.", "scene_description": "A black table holds a white partitioned cutlery tray filled with silver forks, spoons, and knives, positioned in front of a gray plastic cutlery basket. To the right of the tray are a white bowl, a roll of gray tape, and a black pot with a clear lid, while a robotic arm base is visible at the left edge of the table.", "global_instruction_dense": "The right robotic gripper reaches into the gray cutlery basket, grasps a silver knife, moves it to the white cutlery tray and places it in the appropriate slot, then returns to the basket to grasp a silver fork, and places the fork into the corresponding slot in the tray before moving back above the basket.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 144, "tasks": ["place utensil"], "length": 924, "global_instruction": "Place pieces of silver cutlery from the dark gray utensil basket into the white cutlery tray on the black table.", "scene_description": "A black table holds a dark gray utensil basket at the back, a white cutlery tray with silver cutlery in the center, a green and orange citrus bag with oranges to the right, a white bowl, scissors, and a metal pot at the far right.", "global_instruction_dense": "The right robotic gripper repeatedly reaches into the dark gray utensil basket to grasp individual pieces of cutlery, moves each piece over the white cutlery tray, and releases each into the appropriate compartment of the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 145, "tasks": ["place utensil"], "length": 941, "global_instruction": "Sort cutlery from the gray cutlery basket into the appropriate compartments of the white cutlery tray.", "scene_description": "A black table holds a white multi-compartment cutlery tray in the center, a gray plastic cutlery basket behind the tray, a green orange bag, white bowl, scissors, and pot to the right, with a white robotic arm base to the left of the table and gray sofas in the background.", "global_instruction_dense": "The left robotic arm repeatedly reaches into the gray cutlery basket, grasps individual silver utensils (knife, spoon, fork), lifts each utensil, moves it to the matching compartment in the white cutlery tray, and releases it into the compartment.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 146, "tasks": ["place utensil"], "length": 775, "global_instruction": "Place cutlery from the dark gray basket into the matching compartments of the white cutlery tray.", "scene_description": "A white divided cutlery tray holding forks, spoons, and knives rests on a black table, with a dark gray cutlery basket positioned behind the tray, a green bag of oranges to the tray's right, and a white bowl, pair of scissors, and metal pot further right on the table.", "global_instruction_dense": "The right robotic gripper retrieves knives and forks from the dark gray cutlery basket behind the white tray, moves each piece of cutlery over its corresponding compartment in the tray, and releases it into the compartment.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 147, "tasks": ["place utensil"], "length": 175, "global_instruction": "Take the black utensil out of the paper cup and place it on the worktable.", "scene_description": "A light wooden worktable holds a brown cardboard box on the left, a dark brown paper cup with a black utensil inside to the right of the box, and a robotic arm positioned above the far end of the worktable, with workshop storage shelves and cabinets in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the dark brown paper cup on the worktable, grasps the black utensil inside the cup, lifts the utensil out of the cup, moves it to an empty spot on the worktable right of the cup, and releases it onto the worktable surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 148, "tasks": ["place utensil"], "length": 351, "global_instruction": "Remove the spoon from the paper cup, place it on the table, then insert the pen into the paper cup.", "scene_description": "A pale yellow rectangular block is on the left of a light wood table, a dark brown disposable paper cup with a white interior is at the table center, and a metal spoon is inside the cup.", "global_instruction_dense": "The right robotic arm moves toward the brown paper cup, grasps the metal spoon inside it, lifts the spoon out, places it on the table right of the cup, then grasps the pen from the table, lifts it, and drops it into the brown paper cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 149, "tasks": ["place utensil"], "length": 317, "global_instruction": "Place the metal blender whisk into the clear plastic cup on the kitchen counter", "scene_description": "A dark kitchen counter holds a black-red WHEY protein bag, clear plastic cup, white bowl, metal blender whisk, and shaker lid, with a paper towel roll, toaster oven, and electric kettle at the back, two robotic arms are positioned above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the metal blender whisk on the kitchen counter, grasps it, lifts it, moves it over the clear plastic cup, and releases the whisk into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 150, "tasks": ["place utensil"], "length": 334, "global_instruction": "Place the silver metal whisk into the clear plastic shaker cup on the kitchen counter.", "scene_description": "A dark brown kitchen counter holds a black and red whey protein bag, clear plastic cups, a silver metal whisk, a paper towel roll, a silver toaster oven, a stainless steel kettle, white cabinets, and a white robotic arm at the counter's right side.", "global_instruction_dense": "The right robotic arm moves toward the silver metal whisk on the kitchen counter, grasps it, lifts and moves it over the clear plastic shaker cup, lowers the whisk into the cup, then releases the whisk and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 151, "tasks": ["place utensil"], "length": 422, "global_instruction": "Place the wooden slotted spatula from the utensil caddy into the pot on the stovetop.", "scene_description": "A black electric stovetop holds a dark non-stick pot with copper interior, a white plastic spatula stands inside the pot, and two sausage slices rest on the pot rim. A grey counter to the stovetop's right has a utensil caddy holding a wooden slotted spatula, blue whisk, and metal utensils, with a white robotic arm positioned left of the stovetop and an open door to another room in the background.", "global_instruction_dense": "The right robotic gripper moves toward the utensil caddy on the right of the stovetop, grasps the light brown wooden slotted spatula, lifts it, moves it left over the pot on the stovetop, lowers it into the pot, then releases the spatula to rest inside the pot alongside the existing white spatula.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 152, "tasks": ["place utensil"], "length": 307, "global_instruction": "Take a white utensil from the open kitchen drawer and place it on the countertop.", "scene_description": "A light wood kitchen cabinet with an open drawer holding small items is adjacent to a stainless steel refrigerator; the gray countertop has a sink, green plastic bottle, black toaster, and white rice cooker, with a robotic arm positioned at the left of the scene on a wooden floor.", "global_instruction_dense": "The right robotic gripper moves toward the open kitchen drawer, lowers into the drawer to grasp a white utensil, lifts the utensil out of the drawer, moves it over the countertop, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 153, "tasks": ["place utensil"], "length": 541, "global_instruction": "Place the wooden spatula from the stovetop pot into the metal kitchen utensil holder.", "scene_description": "A white robotic arm is positioned on the left side of a kitchen. A black stovetop in front of the arm holds a dark non-stick pot with an orange interior containing a light wooden spatula. A metal utensil holder sits behind the pot, with small kitchen appliances on the adjacent counter, plus wooden cabinets and a red framed artwork on the wall.", "global_instruction_dense": "The left robotic arm reaches toward the wooden spatula in the stovetop pot, grasps it, lifts it out of the pot, moves it right over the metal utensil holder, lowers it into the holder, releases and adjusts the spatula, then retracts its gripper.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 154, "tasks": ["place utensil"], "length": 274, "global_instruction": "Place the silver utensil caddy from the stovetop next to the coffee machine on the kitchen counter.", "scene_description": "A white robotic arm is positioned on the left side of a kitchen. The black stovetop on the right holds a dark pot with copper interior and a silver perforated utensil caddy with cooking tools, while the adjacent kitchen counter has a silver coffee machine, toaster oven, and blender, with light wooden upper cabinets mounted on the wall.", "global_instruction_dense": "The left robotic arm moves right toward the silver utensil caddy on the stovetop, grasps the caddy, lifts and moves it left to the area beside the coffee machine, places it on the counter, then releases the caddy and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 155, "tasks": ["place utensil"], "length": 341, "global_instruction": "Reposition the gray utensil holder to different spots on the wooden dining table.", "scene_description": "A light wooden dining table holds a tall gray rectangular utensil holder, a white rice cooker, and small containers. A white robotic arm is positioned to the left of the table, a California Republic flag hangs on the wall behind the table, and a refrigerator is visible to the far left.", "global_instruction_dense": "The left robotic arm moves toward the gray utensil holder on the table, grasps it, lifts it, moves it to multiple positions on the table surface, places it down at each position, then releases the holder and moves its gripper away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 156, "tasks": ["place utensil"], "length": 252, "global_instruction": "Place the wooden spatula on the table into the dark blue tote bag.", "scene_description": "A light wooden table holds a dark blue tote bag, a light wooden spatula, an orange circular coaster, a green-capped clear bottle, a brown pouch, a blue plastic bag, a pink container, and a white bowl, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the wooden spatula on the table, grasps it, lifts it, moves it over the dark blue tote bag, and lowers it into the tote bag.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 157, "tasks": ["place utensil"], "length": 287, "global_instruction": "Take the wooden spatula out of the dark blue bag and place it on the table", "scene_description": "A light wooden table holds a dark blue fabric bag, an orange circular lid, a brown paper pouch, a blue plastic bag, a pink-labeled jar, a clear glass, and a green-capped small bottle. A light brown wooden spatula is inside the dark blue bag, and a white robotic arm is positioned above the left side of the table next to the glass.", "global_instruction_dense": "The left robotic arm moves toward the dark blue bag on the light wooden table, grasps the light brown wooden spatula inside the bag, lifts it out of the bag, moves it to the left of the bag on the table surface, then lowers and releases the spatula onto the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 158, "tasks": ["place utensil"], "length": 257, "global_instruction": "Take the pink lipstick out of the clear glass and place it on the cabinet surface.", "scene_description": "A textured-top white cabinet holds a bright red square lid and a clear glass with a pink lipstick inside, with a white robotic arm on a black table to the left of the cabinet.", "global_instruction_dense": "The right robotic arm moves downward toward the clear glass on the cabinet, grasps the pink lipstick inside the glass, lifts it out of the glass, moves it beside the glass, lowers it onto the cabinet surface, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 159, "tasks": ["place utensil"], "length": 194, "global_instruction": "Remove the green-handled utensil from the white bowl and place it on the table.", "scene_description": "A round light wooden table holds a white bowl with a green-handled utensil inside and a crumpled gray sweatshirt, surrounded by black office chairs, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the white bowl on the table, grasps the green-handled utensil inside the bowl, lifts it out of the bowl, moves it to the table surface next to the bowl, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 160, "tasks": ["place utensil"], "length": 177, "global_instruction": "Take the red-and-white patterned stick from the dish and place it on the blue cloth surface.", "scene_description": "A white robotic arm base is mounted on a black workbench on the left. To its right is a table covered with blue cloth, holding a shallow yellow dish with a dark patterned rim that contains a small red-and-white patterned stick.", "global_instruction_dense": "The right robotic arm moves toward the dish on the blue cloth, grasps the small red-and-white patterned stick inside the dish, lifts the stick out of the dish, moves it over the blue cloth, lowers it, and releases it onto the blue cloth.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 161, "tasks": ["place utensil"], "length": 182, "global_instruction": "Take the green utensil out of the white cup and place it on the dark blue fabric.", "scene_description": "A white robotic arm base sits on the left of a black table. To its right, a table covered with dark blue fabric holds a white cup with dark liquid containing a green utensil, a clear square plastic container, two small white paper squares, a small colorful tag, and three white cloud-shaped cutouts.", "global_instruction_dense": "The right robotic arm extends from the left base toward the white cup on the blue fabric, grasps the green utensil inside the cup, lifts it out of the cup, moves it left across the blue fabric, lowers it, and releases it onto the blue fabric.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 162, "tasks": ["place utensil"], "length": 274, "global_instruction": "Remove the orange-handled utensil from the blue cup and place it on the dark blue table runner.", "scene_description": "A white oval table holds a blue cup with an orange-handled utensil inside, multiple brown napkins, a white plate, and a dark blue table runner. A red couch sits to the table's right, while an orange couch, small white round table, orange ottoman, and brown bulletin board are in the background near a glass office door.", "global_instruction_dense": "The right robotic arm enters from the top of the frame, moves toward the blue cup on the table, lowers its gripper into the cup to grasp the orange-handled utensil, lifts the utensil out of the cup, moves it over the dark blue table runner, lowers the utensil to the table, releases it, and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 163, "tasks": ["place utensil"], "length": 278, "global_instruction": "Remove the green-and-white straw from the clear plastic cup and place it on the white round table.", "scene_description": "A white round table in an office lounge holds four brown paper napkins, a clear plastic cup with a green-and-white straw, a pink sticky note, a small brown packet, and a yellow sticky note. A red patterned sofa is to the right of the table, an additional red sofa, small white side table, orange ottoman, wall-mounted corkboard, and office doorway are in the background, with a robotic base at the left frame edge.", "global_instruction_dense": "The left robotic arm extends downward toward the clear plastic cup on the table, grasps the green-and-white straw inside the cup, lifts the straw out of the cup, moves the straw over the empty table surface, lowers it, and releases the straw onto the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 164, "tasks": ["place utensil"], "length": 325, "global_instruction": "Take the green-handled utensil out of the white bowl and place it on the white table", "scene_description": "A white round table holds several brown paper sheets, a white bowl with a green-handled metal utensil inside, and a clear plastic lid. A red sofa is to the right of the table, and a person sits at a small table with a laptop in the background.", "global_instruction_dense": "The right robotic arm extends towards the green-handled utensil in the white bowl, grasps it, lifts it, moves it to an empty spot on the white table left of the bowl, lowers and releases it onto the table, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 165, "tasks": ["place utensil"], "length": 161, "global_instruction": "Remove the white stick with pink dots from the silver bowl and place it on the white table.", "scene_description": "A silver bowl holding a white stick with pink dots is placed on a white round table in an office space.", "global_instruction_dense": "The left robotic gripper moves toward the silver bowl on the white table, grasps the white stick with pink dots inside the bowl, lifts the stick out of the bowl, moves it to the empty area of the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 166, "tasks": ["place utensil"], "length": 149, "global_instruction": "Pick the spotted red-tipped stick from the grey bowl and place it on the white table.", "scene_description": "A white round table holds a grey bowl, which contains a white spotted stick with a red tip. Office desks, chairs, and cabinets are in the background.", "global_instruction_dense": "The left robotic arm moves toward the spotted red-tipped stick in the grey bowl, grasps it, lifts it out of the bowl, moves it to the empty area of the white table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 167, "tasks": ["place utensil"], "length": 159, "global_instruction": "Place the orange stick on the white table into the light gray bowl.", "scene_description": "A white round table in an office holds an orange small stick on its left side and a light gray shallow bowl on its right side, with office desks and chairs in the background.", "global_instruction_dense": "The left robotic arm moves toward the orange stick on the left of the white table, grasps and lifts the stick, moves it right over the light gray bowl, and releases the stick into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 168, "tasks": ["place utensil"], "length": 172, "global_instruction": "Take the dark blue utensil out of the turquoise bowl and place it on the white table.", "scene_description": "A white round table next to an orange sofa holds a turquoise bowl with a dark blue utensil inside, three brown napkins, two pink note slips, and two small brown snack packages.", "global_instruction_dense": "The right robotic arm descends from above towards the turquoise bowl, grasps the dark blue utensil inside it, lifts the utensil out of the bowl, moves it over the empty area of the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 169, "tasks": ["place utensil"], "length": 144, "global_instruction": "Remove the blue utensil from the turquoise bowl and place it on the white table.", "scene_description": "A white round table holds a turquoise bowl with a dark blue utensil inside, three light brown napkins, two pink note cards, and two brown snack packets. An orange couch is adjacent to the table's right side, a robotic arm base sits to the table's left.", "global_instruction_dense": "The right robotic arm moves toward the dark blue utensil inside the turquoise bowl on the white table, grasps the utensil, lifts it out of the bowl, moves it to the empty left section of the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 170, "tasks": ["place utensil"], "length": 153, "global_instruction": "Remove the black utensil from the turquoise bowl and place it on the white table.", "scene_description": "A turquoise bowl containing a black utensil, three brown paper bags, two pink sticky notes, and a small yellow sachet are placed on a white round table. The table is adjacent to an orange textured sofa on a dark checkered carpet.", "global_instruction_dense": "The right robotic arm moves down toward the turquoise bowl on the white table, grasps the black utensil inside the bowl, lifts the utensil out of the bowl, moves left to the upper surface of the table, places the utensil down, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 171, "tasks": ["place utensil"], "length": 189, "global_instruction": "Take the green utensil out of the clear plastic cup and place it on the dark grey desk.", "scene_description": "A dark grey office desk holds a clear plastic cup with a green utensil inside, two light yellow paper sheets, a black remote control, two black mobile phones, and a small white vase with dark red flowers on its right edge. A white robotic arm is positioned to the left of the desk, with office monitors, chairs, and folding screens in the background.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup on the desk, grasps the green utensil inside the cup, lifts the utensil out of the cup, moves it over the desk surface, and lowers it to place it on the desk.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 172, "tasks": ["place utensil"], "length": 223, "global_instruction": "Take a utensil from the white mug and place it on the wooden table.", "scene_description": "A round light wooden table holds a white mug with a green decorative band, crumpled dark blue cloth, crumpled coral cloth, and a white flower-shaped plate. A stationary white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the white mug on the table, grasps a metallic utensil inside the mug, lifts the utensil out of the mug, moves it over the table surface, and places it onto the wooden table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 173, "tasks": ["place utensil"], "length": 175, "global_instruction": "Take the utensil from the white mug and place it on the wooden table", "scene_description": "A round light wooden table in an office holds a dark blue cloth, coral cloth, white mug with green trim, white flower-shaped plate, and small black clip. A robotic arm is left of the table, with black office chairs around it on dark carpet.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the table, grasps the silver utensil inside the mug, lifts it out, moves it to the empty area left of the blue cloth on the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 174, "tasks": ["place utensil"], "length": 161, "global_instruction": "Remove the orange-handled utensil from the light blue bowl and place it on the white table.", "scene_description": "A white round table stands in front of an orange sofa, holding a light blue bowl with an orange-handled utensil inside, multiple orange-handled tools, and a white spatula, with a robotic arm on the left of the frame.", "global_instruction_dense": "The right robotic gripper moves toward the light blue bowl, grasps the orange-handled utensil inside the bowl, lifts the utensil out, moves it over the white table surface, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 175, "tasks": ["place utensil"], "length": 151, "global_instruction": "Pick the black-handled metal utensil from the white bowl and place it on the white tabletop", "scene_description": "A white round table is placed in front of an orange textured sofa. On the table, there is a white bowl holding a black-handled metal utensil, two beige paper napkins, and a white oval plate topped with a black square cloth. A white robotic arm base with blue indicator lights is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves downward from above the table to the white bowl, grasps the black-handled metal utensil inside the bowl, lifts it out of the bowl, moves it slightly to the left, and places it on the white tabletop next to the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 176, "tasks": ["place utensil"], "length": 213, "global_instruction": "Take the red spatula from the open drawer and place it on the kitchen countertop.", "scene_description": "White kitchen cabinetry with silver handles, a white countertop holding a stainless steel kettle and small items, an open white drawer below the counter contains a red silicone spatula, two robotic arms are positioned in front of the counter.", "global_instruction_dense": "The right robotic arm moves toward the open kitchen drawer, grasps the red spatula inside the drawer, lifts the spatula out of the drawer, and places it on the white kitchen countertop.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 177, "tasks": ["place utensil"], "length": 197, "global_instruction": "Pick up the black tongs near the countertop appliance and place them on the open counter area.", "scene_description": "A white kitchen counter holds a countertop appliance, silver kettle, red ping pong paddle, blue container, stacked plates, and black tongs near the appliance, with white upper cabinets above the counter.", "global_instruction_dense": "The left robotic arm moves toward the black tongs near the countertop appliance, grasps them, lifts and moves them right across the counter, then releases them onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 178, "tasks": ["place utensil"], "length": 205, "global_instruction": "Pick up the metal tongs from the sink and place them into the dish rack", "scene_description": "A white kitchen counter has a stainless steel sink on its right, metal tongs resting inside the sink, a wire dish rack with dishware behind the sink, and a white kettle next to the dish rack. The left robotic arm is positioned above the sink area.", "global_instruction_dense": "The left robotic arm moves downward toward the stainless steel sink, grasps the metal tongs inside the sink, lifts the tongs out of the sink, moves them to the wire dish rack on the counter, and places the tongs into the dish rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 179, "tasks": ["place utensil"], "length": 159, "global_instruction": "Remove the white straw from the blue plastic cup and place it on the white table.", "scene_description": "A white round table in an office holds a teal bowl with white cubes, a red cloth, a blue plastic cup, and a dustpan with a black brush from left to right. Two white robotic arms are positioned to the left of the table, with orange and light gray chairs around the table.", "global_instruction_dense": "The right robotic arm moves toward the blue plastic cup on the white table, grasps the white straw inside the cup, lifts the straw out of the cup, moves it slightly, and places it on the white tabletop next to the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 180, "tasks": ["place utensil"], "length": 192, "global_instruction": "Pick up the scoop and place it next to the pile of white foam pieces on the table.", "scene_description": "A white round table holds a light blue bowl, a white scoop with black and red handle, a pile of white foam pieces, and a light blue plastic cup. An orange chair with pink fabric draped over it is next to the table, and a robotic arm is positioned above the left of the table in an open office space.", "global_instruction_dense": "The right robotic arm moves downward toward the white scoop with black and red handle on the left side of the table, grasps the scoop, lifts it, moves it rightward to the edge of the white foam pile, and releases it to rest on the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 181, "tasks": ["place utensil"], "length": 219, "global_instruction": "Pick up the black utensil from the sink and place it into the dish rack", "scene_description": "A stainless steel sink holds a white mug, a white long-handled tool, and a black utensil near the drain. A metal dish rack with a yellow and white mug is behind the sink, a black soap dispenser is on the wall right of the faucet, a clear bottle with a blue cap sits on the right sink counter, and a robotic arm is positioned left of the sink.", "global_instruction_dense": "The left robotic arm moves down into the sink, grasps the black utensil near the drain, lifts it out of the sink, moves it over the dish rack behind the sink, releases the utensil into the rack, then retracts slightly.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 182, "tasks": ["place utensil"], "length": 138, "global_instruction": "Move the grey utensil basket to a position closer to the toaster oven on the left of the counter.", "scene_description": "A grey kitchen counter holds a black toaster oven, a grey plastic utensil basket, and a silver fork on its right side, with a robotic arm positioned to the left of the counter.", "global_instruction_dense": "The right robotic gripper reaches toward the grey utensil basket, grasps its handle, lifts it slightly, moves it leftward across the counter toward the toaster oven, then lowers and releases the basket at the new position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 183, "tasks": ["place utensil"], "length": 754, "global_instruction": "Take metal utensils out of the grey plastic basket and place them on the grey countertop.", "scene_description": "A grey kitchen countertop holds a grey plastic utensil basket filled with metal utensils, a black toaster oven sits to the left of the basket, and a white robotic arm is positioned on the left side of the counter.", "global_instruction_dense": "The left robotic arm moves toward the grey utensil basket, sequentially grasps individual metal utensils, lifts each utensil out of the basket, moves each over the countertop, and releases them onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 184, "tasks": ["place utensil"], "length": 572, "global_instruction": "Place the silver spoon and silver fork on the gray table into the black plastic basket.", "scene_description": "A gray table holds a black plastic basket, a silver spoon, a silver fork, a blue-capped small container, a black toaster, a white sport bottle with an orange logo, and a gray hoodie. The basket is at the left end of the table, the spoon and fork sit between the basket and the toaster, and the hoodie is at the far right end.", "global_instruction_dense": "The right robotic arm moves toward the silver spoon on the table, grasps it, lifts it, moves it over the black basket, releases it into the basket, then moves toward the silver fork, grasps it, lifts it, moves it over the basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 185, "tasks": ["place utensil"], "length": 198, "global_instruction": "Take a metal utensil from the black wire basket and place it on the grey table.", "scene_description": "A grey table holds a black wire basket, small blue lid, dark blue jar with yellow lid, black toaster, white water bottle with orange logo, and folded grey hoodie. A right robotic arm is positioned above the left side of the table, a left robotic arm is at the lower left of the frame.", "global_instruction_dense": "The right robotic arm moves toward the black wire basket on the left of the grey table, grasps a metal utensil inside the basket, lifts the utensil out of the basket, moves it over the table surface next to the basket, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 186, "tasks": ["place utensil"], "length": 254, "global_instruction": "Place the clear glass ladle into the black pen holder on the table.", "scene_description": "A white table holds a red cloth, white printed bottle, small blue-rimmed cup, green rectangular eraser, clear plastic fork, small black circular object, silver framed whiteboard, black pen holder with a pink item and black ladle, clear glass ladle at the right end, and two robotic arms at the table's left side.", "global_instruction_dense": "The right robotic arm moves from its initial position toward the clear glass ladle at the right of the table, grasps the ladle, lifts and moves it to the black pen holder, then lowers and releases the ladle into the pen holder.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 187, "tasks": ["place utensil"], "length": 172, "global_instruction": "Move the black cutlery holder on the table to the position near the green notebook.", "scene_description": "A light yellow oval wooden table sits in front of a gray fabric sofa. On the table, there is a black plastic cutlery holder with utensils inside, a white plastic fork, and a green notebook. A robotic arm is visible in the left foreground.", "global_instruction_dense": "The right robotic arm moves toward the black cutlery holder on the right side of the yellow table, grasps it, lifts it, moves it to the side of the table near the green notebook, lowers it, places it on the table surface, and releases its grip.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 188, "tasks": ["place utensil"], "length": 189, "global_instruction": "Place a white plastic utensil from the table into the black rectangular storage box", "scene_description": "A round light wood table holds a black rectangular storage box, three white plastic utensils, and a green folder, with a grey L-shaped sofa behind the table and a robotic arm to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward a white plastic utensil on the round table, grasps the utensil, lifts it, moves it over the black rectangular storage box, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 189, "tasks": ["place utensil"], "length": 147, "global_instruction": "Remove utensils from the black slotted organizer and place them onto the white table.", "scene_description": "A black slotted organizer sits on the right side of a white table, with a robotic arm to the left of the table in an office lounge with orange and grey seating.", "global_instruction_dense": "The right robotic arm moves toward the black slotted organizer on the white table, grasps utensils inside the organizer, lifts them out, and releases them onto the white table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 190, "tasks": ["place utensil"], "length": 206, "global_instruction": "Place white utensils from the black organizer onto the white table surface.", "scene_description": "A white table holds a black slotted organizer with white utensils on its right side; a robotic arm is positioned to the left of the table, with orange chairs and office furniture in the background.", "global_instruction_dense": "The right robotic arm extends toward the black slotted organizer on the right of the white table, grasps a white utensil from inside the organizer, lifts the utensil, moves it over the empty area of the table, releases the utensil onto the table, and repeats this action to place multiple utensils on the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 191, "tasks": ["place utensil"], "length": 170, "global_instruction": "Pick up the silver metal tongs from the kitchen counter and place it next to the light cream toaster.", "scene_description": "A dark marble kitchen counter holds a silver metal tongs near the right robotic arm, a light cream toaster further right, white cables, and a laptop in the background, with kitchen seating and cabinets visible in the far background.", "global_instruction_dense": "The right robotic arm moves down toward the silver metal tongs on the dark kitchen counter, grasps the tongs, lifts it, moves it rightward toward the light cream toaster, and places the tongs on the counter adjacent to the toaster before releasing its grip.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 192, "tasks": ["place utensil"], "length": 187, "global_instruction": "Pick up the clear plastic spatula from the kitchen counter and place it on a nearby spot of the counter.", "scene_description": "A dark grey marble kitchen counter holds a cream and silver toaster, black phone stand, black spoon, white electrical cord, and a clear plastic spatula. A white dual-arm robotic system is positioned to the left of the counter.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic spatula on the kitchen counter, grasps it with its gripper, lifts the spatula, moves it horizontally across the counter, and lowers it to release it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 193, "tasks": ["place utensil"], "length": 221, "global_instruction": "Pick up the red spatula and place it into the white cooking pot on the table", "scene_description": "A white round table holds a red wooden-handled spatula, a white bowl with green food, a silver spoon, a white plate with a silver fork, and a white cooking pot. A tall white flower vase is behind the table, three woven-back chairs surround the table, and a robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves downward from above the vase, grasps the red spatula on the table, lifts it, moves it over the white cooking pot, lowers it into the pot, and releases the spatula inside.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 194, "tasks": ["place utensil"], "length": 200, "global_instruction": "Place the red-headed wooden spatula into the white pot containing green food on the table", "scene_description": "A white round table holds a white pot with green food, a red-headed wooden spatula, a white bowl with a metal spoon, a paper cup, a plate with a knife, and a tall grey vase with white flowers. A robotic arm is positioned to the left of the table, with two chairs beside the table, white vertical curtains, a green plant, and a pegboard wall in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the red-headed wooden spatula on the white table, grasps it, lifts it, moves it over the white pot holding green food, lowers it, and releases the spatula into the pot.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 195, "tasks": ["place utensil"], "length": 858, "global_instruction": "Rearrange tableware by moving utensils from the small white bowl onto the table and relocating the paper cup near the white vase.", "scene_description": "A white round table holds a small white bowl with two metal utensils and a green food item, a white saucepan with a wooden spatula inside, a blue-and-white paper cup, an oval white plate with a silver knife, and a light grey vase with white flowers; a robotic arm is positioned to the left of the table, with woven chairs, a potted plant, and a perforated wall panel in the background next to sheer white curtains.", "global_instruction_dense": "The left robotic arm first grasps a fork from the small white bowl, lifts it and places it on the table, then grasps a spoon from the bowl, lifts it and places it next to the fork, then grasps the blue-and-white paper cup beside the saucepan, moves it to the left of the bowl near the white vase, sets it down, and moves back to a raised position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 196, "tasks": ["place utensil"], "length": 370, "global_instruction": "Pick up the light-colored cooking utensil and place it into the metal container on the kitchen counter.", "scene_description": "A speckled granite kitchen counter has a beige bottle on a white saucer on the left, a green-patterned mug, two white cups, a clear plastic bottle with a green cap and green accents to the right of the mug, a white bowl at the far right, a sink with a blue-and-white soap bottle on the left side of the counter, a light-colored cooking utensil in a holder near the cups, and a robotic gripper positioned above the counter near the wall.", "global_instruction_dense": "The right robotic gripper lowers toward the light-colored cooking utensil near the white cups, grasps it, lifts it, moves it over the adjacent metal container, lowers it into the container, then releases the utensil and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 197, "tasks": ["place utensil"], "length": 381, "global_instruction": "Retrieve a spatula from the utensil holder, move it over the white bowl, then return it to the utensil holder.", "scene_description": "A kitchen stovetop counter holds a copper-interior pot, white bowl, and metal utensil holder filled with cooking utensils. A robotic arm is positioned above the utensil holder, with a coffee maker on the adjacent side counter.", "global_instruction_dense": "The left robotic arm grasps a spatula from the metal utensil holder on the stovetop, lifts and moves it over the nearby white bowl, adjusts the spatula above the bowl, then moves it back to the utensil holder and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 198, "tasks": ["place utensil"], "length": 174, "global_instruction": "Take a cooking utensil from the utensil holder, move it over the mixing bowl, then return it to the holder.", "scene_description": "A kitchen counter holds a purple and white mixing bowl, a utensil holder with cooking tools, a silver metal cup, a glass pot with brown liquid, and a black electric stove. Upper wooden cabinets are above the counter, and a framed art print hangs on the left wall next to a white door.", "global_instruction_dense": "The right robotic arm moves toward the utensil holder on the kitchen counter, grasps a flat cooking utensil, lifts it, moves it over the mixing bowl, then shifts back to return the utensil to the holder and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 199, "tasks": ["place utensil"], "length": 324, "global_instruction": "Place the wooden spatula from the stovetop into the metal utensil holder.", "scene_description": "A kitchen stovetop holds a copper-inner pot, white ceramic bowl, and metal utensil holder with cooking tools. A white-grey robotic arm is positioned above the stove, with a door and wall-mounted camera to the left, and upper cabinets above the counter.", "global_instruction_dense": "The left robotic arm moves downward to grasp the wooden spatula on the stovetop, lifts the spatula, moves it toward the metal utensil holder, adjusts its angle to fit into the holder, and releases the spatula inside the holder.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 200, "tasks": ["place utensil"], "length": 171, "global_instruction": "Pick up the cutlery from the light blue plate and place it into the black bowl on the desk.", "scene_description": "A light brown desk holds a light blue plate with cutlery and a white napkin, a black bowl with pale liquid, a black laptop, a tall white water bottle, and a black coffee machine. Wooden shelves with plants and decor sit behind the desk, medals hang on the left wall, and a white robotic arm is positioned at the left above the desk.", "global_instruction_dense": "The left robotic arm moves downward toward the light blue plate on the desk, grasps the cutlery resting on the plate, lifts the cutlery, moves it over the black bowl, releases the cutlery into the bowl, then lifts back up above the desk.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 201, "tasks": ["place utensil"], "length": 398, "global_instruction": "Place the white rectangular object on the blue plate and the metal fork next to the light blue lidded container on the desk.", "scene_description": "A wooden desktop holds a light blue plate with a white rectangular object, a light blue lidded container, a metal fork, a black mug, and a white water bottle. A wooden shelf with plants, books and decor sits behind the desk, with a white robotic arm positioned to the left of the desk.", "global_instruction_dense": "The left robotic arm grasps the white rectangular object from the light blue plate, moves it to place it on the desk next to the light blue lidded container, then grasps the metal fork from the left side of the plate, moves it to place it next to the white rectangular object on the desk.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 202, "tasks": ["place utensil"], "length": 299, "global_instruction": "Grasp a utensil from the light blue container and place it into the black frying pan on the desk.", "scene_description": "A light brown wooden desk sits in front of a wooden shelf with plants, books, and decor. On the desk, a black frying pan rests on a teal plate, next to a light blue plastic container, a silver laptop, a tall white water bottle, and silver utensils. A white robotic arm is in a raised position to the left of the desk.", "global_instruction_dense": "The left robotic arm moves downward from its raised starting position, travels over the light blue plastic container to grasp a silver utensil inside, moves the utensil over the black frying pan and dips it into the pan, then lifts the utensil upward away from the pan.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 203, "tasks": ["place utensil"], "length": 116, "global_instruction": "Pick the blue utensil from the white bowl and place it on the kitchen countertop.", "scene_description": "A dark gray kitchen countertop holds a white bowl with a blue utensil inside, a white paper sign next to the bowl, and a black stand to the right of the bowl. A white robotic arm is positioned to the left of the counter, with kitchen cabinets, a refrigerator, and background people visible in the room.", "global_instruction_dense": "The right robotic arm extends toward the white bowl on the counter, lowers its gripper to grasp the blue utensil inside the bowl, lifts the utensil, moves it left over the counter, then lowers and releases the utensil onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 204, "tasks": ["place utensil"], "length": 119, "global_instruction": "Remove the green-handled utensil from the white cup and place it on the table.", "scene_description": "A white round table holds a white cup with a green-handled utensil inside, a clear glass jar, and a large aluminum foil tray, set in an office lounge with orange and gray seating and glass-walled offices in the background, with a robotic arm above the table.", "global_instruction_dense": "The left robotic gripper moves toward the white cup, grasps the green-handled utensil inside the cup, lifts it out of the cup, moves it over the table surface, and releases it to place it on the table between the cup and the jar.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 205, "tasks": ["place utensil"], "length": 126, "global_instruction": "Place the green stirrer on the white table into the white mug", "scene_description": "A white round table in an office lounge holds a white mug, a small green stirrer, a red-capped container, and an open box of wooden stir sticks. Orange and grey seating, a large whiteboard on an orange wall, and glass office partitions are in the background, with a robotic arm in the upper left of the view.", "global_instruction_dense": "The left robotic arm moves down toward the green stirrer on the white table, grasps the stirrer, lifts it, moves it over the white mug, lowers it into the mug, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 206, "tasks": ["place utensil"], "length": 164, "global_instruction": "Pick up the small green-and-white cylindrical stick and place it into the white holiday-patterned bowl.", "scene_description": "A black kitchen countertop holds a white bowl with a green holiday-patterned band at its center, a pink rectangular box to the bowl's right, a small green-and-white cylindrical stick further right of the bowl, a large bottle with a white label and green cap at the bottom right, and brown paper bags and small appliances below upper white cabinets in the background.", "global_instruction_dense": "The right robotic gripper descends to the countertop, grasps the small green-and-white cylindrical stick, adjusts its grip on the stick, moves it over the white holiday-patterned bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 207, "tasks": ["place utensil"], "length": 118, "global_instruction": "Pick the green utensil from the patterned bowl and place it on the counter left of the bowl.", "scene_description": "A black kitchen countertop holds a white bowl with green festive patterned band containing a green utensil, a clear glass, a pink Sweet'N Low box, a purple packaged item, two brown paper bags at the back, and white upper cabinets above, with a stove on the left.", "global_instruction_dense": "The right robotic gripper descends from above toward the green utensil inside the white bowl with green patterned band, grasps the green utensil, lifts it out of the bowl, moves it leftward, and places it on the countertop to the left of the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 208, "tasks": ["place utensil"], "length": 174, "global_instruction": "Pick up the orange-and-white chapstick and place it into the red printed mug.", "scene_description": "A dark grey kitchen counter holds a red printed mug, a black toaster, an aluminum foil food tray, and an orange-and-white chapstick next to the mug, with a robotic arm base on the left of the frame.", "global_instruction_dense": "The right robotic arm moves into the workspace, lowers toward the orange-and-white chapstick on the counter, grasps and lifts it, moves it over the red printed mug, lowers it into the mug, then releases the chapstick and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 209, "tasks": ["place utensil"], "length": 127, "global_instruction": "Place a small white utensil into the red mug on the side table.", "scene_description": "A red mug with a white interior and handle sits on a small white side table with orange legs. The table is positioned next to a light grey L-shaped sofa, a pink and orange curved sofa is to the left of the grey sofa, and a white robotic arm base with blue indicator lights rests on a black work platform to the left of the table.", "global_instruction_dense": "The right robotic arm moves into view above the sofa, lowers toward the red mug on the side table, inserts a small white utensil into the mug, then lifts and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 210, "tasks": ["place utensil"], "length": 117, "global_instruction": "Take the white utensil out of the red cup and place it on the white side table.", "scene_description": "A gray L-shaped sofa and an orange-pink L-shaped sofa are placed side by side. A small white side table with orange C-shaped legs sits in front of the gray sofa, with a red cup holding white utensils on top. A black worktable with a white robotic base with blue lights is on the left of the frame.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the white side table, grasps the white utensil inside the cup, lifts the utensil out of the cup, moves it over the table surface, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 211, "tasks": ["place utensil"], "length": 116, "global_instruction": "Take a white utensil from the red mug and place it on the white side table.", "scene_description": "A small white side table with orange U-shaped legs holding a red mug with white utensils is placed in front of grey and orange L-shaped sofas, with a black workbench with a white robotic arm base on the left.", "global_instruction_dense": "The right robotic arm moves toward the red mug on the white side table, grasps a white utensil from inside the mug, lifts it out of the mug, moves it to the table surface beside the mug, and places the utensil on the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 212, "tasks": ["place utensil"], "length": 105, "global_instruction": "Take the orange chopstick out of the bowl and place it on the tabletop.", "scene_description": "A light brown wooden tabletop holds a dark bowl with an orange chopstick, a white square box, a white book, and clear plastic containers. A black monitor is behind the table, a whiteboard with handwritten text and a mounted black camera are to the left of the monitor, and an adjacent desk with a keyboard is on the right.", "global_instruction_dense": "The left robotic arm moves toward the dark bowl holding the orange chopstick on the table, grasps the orange chopstick, lifts it out of the bowl, moves it to an empty spot on the table, and releases it onto the tabletop.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 213, "tasks": ["place utensil"], "length": 93, "global_instruction": "Remove the orange chopstick from the metallic bowl and place it on the wooden table.", "scene_description": "A light brown wooden table holds a metallic bowl with an orange chopstick inside, a white cube, and a printed paper. A right robotic arm is positioned above the table, a left robotic arm is at the left of the frame, a whiteboard with handwritten text stands behind the table, and a keyboard sits on a desk to the right of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the metallic bowl, grasps the orange chopstick inside the bowl, lifts the chopstick out of the bowl, moves it to an empty area of the table, and releases it to place the chopstick flat on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 214, "tasks": ["place utensil"], "length": 108, "global_instruction": "Place the orange stick on the desk into the shallow metallic bowl", "scene_description": "A light wooden desk holds an orange stick, a shallow metallic bowl with pale liquid, a white small box, and a clear plastic container. A monitor is behind the desk, a white robotic arm base is on the desk's left, a keyboard is on an adjacent desk to the right, and a whiteboard with writing is behind the desk's left side.", "global_instruction_dense": "The right robotic arm extends down toward the orange stick on the light wooden desk, grasps the stick with its gripper, lifts the stick, moves it over the shallow metallic bowl, and releases the stick into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 215, "tasks": ["place utensil"], "length": 85, "global_instruction": "Pick the red chopstick from the silver bowl and place it on the wooden desk surface.", "scene_description": "A light wooden desk holds a silver bowl with a red chopstick on its rim, white boxes behind the bowl, a monitor behind the desk, a white robotic arm to the left of the desk, a handwritten whiteboard left of the desk, a keyboard on an adjacent right desk, and gray clothes on the floor under the right desk.", "global_instruction_dense": "The right robotic arm moves downward toward the silver bowl on the desk, grasps the red chopstick resting on the bowl, lifts it, moves it leftward across the desk, and releases it onto the wooden desk surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 216, "tasks": ["place utensil"], "length": 103, "global_instruction": "Remove the dark utensil from the white mug and place it on the wooden table.", "scene_description": "A light brown wooden table holds a white mug with a black logo (containing a dark utensil) on its right section, a white-and-orange box at the table's back edge, and a black monitor at the far back right, with a right robotic arm positioned near a written whiteboard above the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the table, lowers its gripper into the mug to grasp the dark utensil inside, lifts the utensil out of the mug, moves it left over the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 217, "tasks": ["place utensil"], "length": 79, "global_instruction": "Pick up the orange stick and place it into the white bowl", "scene_description": "A light brown wooden table holds a small white bowl with clear liquid, an orange stick, and a large black cylindrical container on its right. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the orange stick on the wooden table, grasps it with its gripper, lifts it, moves it over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 218, "tasks": ["place utensil"], "length": 298, "global_instruction": "Take a utensil from the open drawer, place it on the counter, and close the drawer.", "scene_description": "In an egocentric kitchen workspace, a black countertop holds a stainless steel microwave on the right and a coffee machine on its left. An open drawer with utensils sits below the counter, and two white robotic arms are visible on the left of the view.", "global_instruction_dense": "The left robotic arm moves down to the open drawer under the counter, grasps a utensil inside, lifts it to place on the black countertop, then moves back to push the drawer fully closed.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 219, "tasks": ["place utensil"], "length": 147, "global_instruction": "Pick white utensils from the open drawer and place them on the countertop.", "scene_description": "A black kitchen countertop holds a silver microwave and a grey coffee machine, with an open drawer below the counter containing white utensils, and two white robotic arms positioned to the left of the counter.", "global_instruction_dense": "The right robotic arm moves down toward the open drawer under the counter, grasps white utensils from inside the drawer, lifts them upward toward the countertop, and releases them onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 220, "tasks": ["place utensil"], "length": 147, "global_instruction": "Retrieve a utensil from the open drawer and place it on the kitchen countertop.", "scene_description": "A white robotic manipulator is positioned next to a dark kitchen countertop. An open drawer holding silver cutlery sits below the counter, a microwave is on the right of the counter, and a coffee machine is at the back of the counter.", "global_instruction_dense": "The right robotic arm moves down toward the open cutlery drawer, grasps a metal utensil from inside the drawer, lifts it upward, and places it onto the dark kitchen countertop.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 221, "tasks": ["place utensil"], "length": 132, "global_instruction": "Place the white flat utensil between the two silver metal strips on the kitchen counter.", "scene_description": "A white dual-arm robot is positioned in front of a dark kitchen counter. An open utensil drawer sits below the counter, a microwave is on the right of the counter, a coffee machine is behind the robot on the counter, and two silver metal strips lie on the counter surface.", "global_instruction_dense": "The right robotic arm moves toward the white flat utensil behind it, grasps the utensil, moves it forward over the two silver metal strips on the counter, adjusts its position, and lowers the utensil to place it on the counter near the strips.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 222, "tasks": ["place utensil"], "length": 303, "global_instruction": "Place the dark gray spatula on the kitchen counter into the sink", "scene_description": "An L-shaped speckled granite kitchen counter holds a silver and black microwave, a gray bowl, and a dark gray silicone spatula. A utensil caddy sits beside a curved stainless steel faucet above a stainless steel sink, which holds a white mug with pink interior and a light blue watering can. A white robotic arm is positioned at the upper left of the counter.", "global_instruction_dense": "The left robotic arm moves toward the dark gray spatula on the kitchen counter, grasps it with its gripper, lifts and moves it over the sink, releases the spatula to drop it into the sink, then withdraws upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 223, "tasks": ["place utensil"], "length": 120, "global_instruction": "Remove the purple-handled utensil from the green cup and place it into the stainless steel sink.", "scene_description": "A white lab countertop has a stainless steel sink on the left, a silver faucet next to the sink, a green cup with a purple-handled utensil inside near the sink, black tape, red scissors, a white box with orange edges, a black square device, and a black keyboard on the right, with a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic gripper moves down toward the purple-handled utensil in the green cup, grasps the utensil, lifts it out of the cup, moves left over the stainless steel sink, and releases the utensil into the sink.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 224, "tasks": ["place utensil"], "length": 105, "global_instruction": "Remove the white stir stick from the black cup and place it on the grey table.", "scene_description": "A grey table holds a black hard case, a dark blue folder, a blue robotics textbook, and a black cup with red interior containing a white stir stick, with a blue trash bin and robotic arms in the background.", "global_instruction_dense": "Right robotic gripper moves toward the black cup with red interior, grasps the white stir stick inside it, lifts the stir stick out of the cup, and places it on the surface of the grey table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 225, "tasks": ["place utensil"], "length": 135, "global_instruction": "Remove the white stick from the black cup and place it on the gray table.", "scene_description": "A light gray table holds a black soft case on the left, a blue book under a black red-interior cup with a white stick inside, and a dark blue printed folder to the right of the book. A blue trash bin, small white table with a cardboard box, and gray cabinet are in the background.", "global_instruction_dense": "The left robotic gripper moves toward the white stick inside the black cup on the blue book, grasps the stick, lifts it out of the cup, moves it leftward over the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 226, "tasks": ["place utensil"], "length": 123, "global_instruction": "Remove the white straw from the black cup and place it on the grey table.", "scene_description": "A grey table holds a black zippered case, a black cup with red interior containing a white straw, a dark blue folder, and a blue book with red scissors on top. A large blue trash bin, cabinets, and a small table with a cardboard box are in the background, with a robotic arm in the upper left area.", "global_instruction_dense": "The left robotic arm moves toward the black cup with red interior, grasps the white straw inside it, lifts the straw out of the cup, moves it leftward over the table, lowers it onto the table surface between the black case and the cup, and releases the straw.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 227, "tasks": ["place utensil"], "length": 124, "global_instruction": "Remove the white straw from the black cup and place it on the grey table.", "scene_description": "A grey table holds a blue hardcover book, dark blue gold-lettered folder, black zippered hard case, red-handled scissors, and a black cup with red interior containing a white straw. A blue trash bin and a small white table with a cardboard box are in the background.", "global_instruction_dense": "The left robotic arm moves toward the black cup on the table, grasps the white straw inside the cup, lifts the straw out of the cup, moves it over the grey table surface, then releases it to drop onto the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 228, "tasks": ["place utensil"], "length": 110, "global_instruction": "Take the utensil out of the black red-interior cup and place it on the gray table.", "scene_description": "A gray tabletop holds a blue book, a black cup with red interior, a black rectangular case, a small white device, and a dark blue folder with red scissors resting on it. A large blue trash bin and storage cabinets are in the background.", "global_instruction_dense": "The right robotic gripper moves toward the black cup with red interior, grasps the metal utensil inside the cup, lifts the utensil out of the cup, moves it to the empty area of the gray table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 229, "tasks": ["place utensil"], "length": 120, "global_instruction": "Remove the white straw from the black red-interior cup and place it on the gray tabletop.", "scene_description": "A gray table holds a blue book, a black hard carrying case with a lanyard, a black cup with red interior holding a white straw, a small white charger, and a dark blue folder with red scissors resting on top. In the background, a large blue trash bin, gray cabinets, a small white table with a brown box, and gray curtains are visible.", "global_instruction_dense": "The left robotic gripper moves toward the white straw inside the black red-interior cup, grasps the straw, lifts it out of the cup, then lowers and places the straw on the gray tabletop between the blue book and the black cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 230, "tasks": ["place utensil"], "length": 422, "global_instruction": "Open the light blue appliance's lid, then move a yellow stick piece from the gray plate to the table surface.", "scene_description": "A white table holds a closed light blue appliance with a yellow warning label, a gray plate with four yellow stick-shaped pieces, an orange cup with a green rim, a blue plastic cup, a small toy hamburger, a tiny yellow rectangular object, and an empty black tray, with a Franka Emika robotic arm positioned to the right of the table.", "global_instruction_dense": "The left robotic arm first moves to the light blue appliance, grasps and lifts its closed lid, places the lid on the adjacent gray plate, then moves to the orange cup on the plate, lifts it to rotate the plate, places the cup back on the plate, grasps a yellow stick piece from the plate, and moves it to the empty table surface next to the plate.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 231, "tasks": ["place utensil"], "length": 441, "global_instruction": "Place the black fork and white spoon on the table onto the white plate", "scene_description": "A gray table holds a white plate, a black fork to the right of the plate, a white spoon below the plate, a clear water bottle, a small blue box, a clear plastic cup, and a utensil tray at the bottom left. Two blue chairs are on the left side of the table, and a robotic arm is positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the black fork on the table, grasps it, moves it over the white plate, places and releases it on the plate, then moves toward the white spoon, grasps it, moves it over the plate, places and releases it on the plate, then moves away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 232, "tasks": ["place utensil"], "length": 563, "global_instruction": "Move the fork and spoon from the white plate to the grey table, then place a fork from the utensil tray onto the white plate.", "scene_description": "A grey table holds a white plate with a black fork and white spoon, a clear water bottle, a clear cup, a small blue box, and a beige utensil tray on its left side. Two blue chairs are behind the table, with workbenches and equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the black fork on the white plate, grasps it and places it on the grey table, then grasps the white spoon on the plate and places it on the table, then moves to the beige utensil tray to grasp a black fork, and finally places this fork onto the white plate.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 233, "tasks": ["place utensil"], "length": 497, "global_instruction": "Place cutlery from the beige tray onto the grey table next to the white plate.", "scene_description": "A grey table holds a beige rectangular tray with assorted black and white cutlery, a white round plate to the right of the tray, and a clear plastic water bottle near the table's back edge; two blue office chairs are positioned to the left of the table, and a robotic arm is above the table's right side.", "global_instruction_dense": "The right robotic gripper moves toward the beige cutlery tray on the grey table, grasps a black fork, moves it to the table area left of the white plate and releases it, then returns to the tray to grasp a white spoon, moves the spoon to the table area below the white plate and releases it, before moving upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 234, "tasks": ["place utensil"], "length": 176, "global_instruction": "Place the green straw from the white cup onto the white table.", "scene_description": "A white round table holds three loose green straws, a white bowl with a yellow cube inside, and a white cup with green and purple straws inside, in a lab with robotic arms and camera tripods in the background.", "global_instruction_dense": "The right robotic arm moves toward the white cup on the table, grasps the green straw inside the cup, lifts the straw, moves it over the empty area of the table next to the cup, and releases the straw onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 235, "tasks": ["place utensil"], "length": 559, "global_instruction": "Place the pair of black food tongs from the table into the clear utensil holder.", "scene_description": "A white table holds a clear utensil holder with several utensils inside, plus a metal spoon, a black-handled utensil, and a pair of black food tongs to the holder's right. A robotic arm is positioned to the right of the table above the table surface.", "global_instruction_dense": "The right robotic arm moves toward the pair of black food tongs on the white table, grasps them, lifts and moves them over the clear utensil holder, lowers them into the holder, then releases the tongs and moves upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 236, "tasks": ["place utensil"], "length": 407, "global_instruction": "Place the silver ladle resting on the table into the clear utensil holder.", "scene_description": "A clear utensil holder with various tools inside, a silver long-handled ladle, and a white robotic arm are on a white table. The ladle rests on the table next to the holder, and the arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the silver ladle on the table, grasps it, lifts it, adjusts its angle to align with the clear utensil holder, lowers it into the holder, releases it, then moves back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 237, "tasks": ["place utensil"], "length": 577, "global_instruction": "Remove utensils from the transparent container and place them on the white table.", "scene_description": "A transparent container holding various utensils (including a silver ladle, black spatulas, and scissors) is placed at the center of a white table, with a right robotic arm positioned on the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the transparent utensil container on the table, grasps a black slotted spatula, lifts it out of the container and places it on the table, then grasps a silver ladle from the container, lifts it out and places it on the table, then grasps another black utensil from the container and lifts it out as the video ends.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 238, "tasks": ["place utensil"], "length": 436, "global_instruction": "Place a utensil from the clear holder onto the white table surface.", "scene_description": "A white table holds a clear acrylic utensil holder with assorted tools, a black slotted spoon, and two black peelers next to the holder, with a robotic arm positioned at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the clear utensil holder on the white table, grasps a black utensil from inside the holder, lifts it out, moves it over the empty table space next to the holder, releases the utensil onto the table, then lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 239, "tasks": ["place utensil"], "length": 355, "global_instruction": "Take a utensil from the clear glass container and place it onto the white table surface.", "scene_description": "A clear glass container holding various utensils sits at the center of a white table, with additional utensils scattered on the table next to the container, and a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the clear glass container on the white table, grasps a utensil inside the container, lifts it out, moves it over the table surface, lowers it, releases it onto the table, then moves upward away from the placed utensil.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 240, "tasks": ["place utensil"], "length": 556, "global_instruction": "Move the bristle brush out of the clear cup onto the table, then place the black round-ended utensil into the clear cup.", "scene_description": "A white table has a clear plastic cup at its center, with a bristle brush and other utensils inside the cup, and several utensils scattered on the table to the right of the cup, with a right robotic arm positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic cup on the white table, grasps the bristle brush inside the cup, lifts it out, moves it rightward, and drops it onto the scattered utensils on the table, then moves to the scattered utensils, grasps the black round-ended utensil, lifts it, moves it leftward over the clear cup, lowers it, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 241, "tasks": ["place utensil"], "length": 495, "global_instruction": "Place the large silver ladle from the table into the clear plastic utensil holder.", "scene_description": "A clear plastic utensil holder holding multiple utensils is positioned on the left of a white table, several loose utensils including a large silver ladle are scattered on the table to the right of the holder, and a white robotic arm is at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the large silver ladle on the right of the white table, grasps the ladle with its gripper, lifts it, rotates it to adjust its orientation, moves it over the clear plastic utensil holder, lowers the ladle into the holder, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 242, "tasks": ["place utensil"], "length": 760, "global_instruction": "Pick up the silver utensil on the table and place it into the clear plastic cup holding other utensils.", "scene_description": "A clear plastic cup holding multiple utensils and a single silver utensil are placed on a white table, with a robotic arm positioned on the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the silver utensil lying on the white table, grasps it with its gripper, lifts it, moves it over the clear cup holding other utensils, lowers and releases it into the cup, adjusts a utensil inside the cup, then lifts back to a resting position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 243, "tasks": ["place utensil"], "length": 975, "global_instruction": "Place the silver cutlery scattered on the table into the gray three-compartment tray.", "scene_description": "A gray three-compartment tray, multiple pieces of silver cutlery, and a container of large cooking utensils are placed on a white table. The tray is at the center, cutlery is to the tray's right, the utensil container is to the tray's left, and a robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the silver cutlery scattered to the right of the gray three-compartment tray, sequentially grasps a knife and a fork, lifts each piece, moves it over the tray, and releases it into the tray's compartments.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 244, "tasks": ["place utensil"], "length": 349, "global_instruction": "Place a scattered silver metal utensil into the gray three-compartment tray", "scene_description": "A gray three-compartment tray, scattered small silver utensils, and a container with large serving utensils are placed on a white table. The tray is between the left container and right scattered utensils, with a right robotic arm above the table's right side.", "global_instruction_dense": "The right robotic arm moves toward the scattered silver utensils right of the gray tray, grasps a metal utensil, lifts it, moves it over the tray, lowers it, and releases it into one of the tray's compartments.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 245, "tasks": ["place utensil"], "length": 657, "global_instruction": "Move the fork and knife from the white plate to the table next to the plate.", "scene_description": "A white round table holds a white plate with a fork and knife, a red-green apple in front of the plate; a purple office chair with a white cup and items on its seat is to the left of the table, with an office workspace with desks and computers in the background.", "global_instruction_dense": "The right robotic arm moves toward the white plate on the round table, grasps the fork on the plate, moves it to the table next to the apple and releases it, then grasps the knife on the plate, moves it to the table next to the fork and releases it, before moving away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 246, "tasks": ["place utensil"], "length": 866, "global_instruction": "Move the apple from the plate to the table, then place the fork and knife onto the plate.", "scene_description": "A white round table holds a white plate with a red-green apple, a silver fork to the left of the plate, and a silver knife to the right of the plate. A purple office chair sits to the left of the table, with office workstations in the background and a right robotic arm above the table's right side.", "global_instruction_dense": "The right robotic arm first grasps the red-green apple from the white plate, moves it to the empty table surface and places it, then grasps the silver fork beside the plate and places it onto the plate, then grasps the silver knife beside the plate and places it onto the plate before retracting.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 247, "tasks": ["place utensil"], "length": 256, "global_instruction": "Take the green straw out of the white mug and place it on the table next to the apple.", "scene_description": "A white round table holds a red-green apple, a white mug with a green straw inside, and a white plate with a fork and knife on it; a robotic arm is positioned to the right of the table, with office workstations and a purple office chair in the background.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the table, grasps the green straw inside the mug, lifts the straw out of the mug, moves it to the area next to the apple on the table, lowers and releases the straw onto the table, then moves back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 248, "tasks": ["place utensil"], "length": 282, "global_instruction": "Remove the green straw from the white mug and place it on the white table.", "scene_description": "A white round table holds a red-green apple, a white mug with a green straw, and a white plate with a silver fork and knife. A purple office chair is to the left of the table, with office workstations in the background, and a right robotic arm is positioned at the right side of the frame.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the table, grasps the green straw inside the mug, lifts the straw out of the mug, moves it to the area adjacent to the apple on the table, lowers and releases the straw onto the table surface, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 249, "tasks": ["place utensil"], "length": 314, "global_instruction": "Remove the green straw from the white mug and place it on the table next to the apple.", "scene_description": "A white round table in an office holds a red-and-green apple, a white mug with a green straw inside, and a white plate with metal fork and knife, with office desks and chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the white mug, grasps the green straw inside it, lifts the straw out of the mug, moves it to the area beside the apple on the table, lowers the straw, releases it onto the table, then retracts its arm.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 250, "tasks": ["place utensil"], "length": 956, "global_instruction": "Transfer the fork and knife from the plate to the table and then return them to the plate.", "scene_description": "A round white table in an office holds a red-yellow apple, a white plate with a fork and knife, and a white cup with a green straw; a purple office chair is to the left of the table, with desks and computers in the background.", "global_instruction_dense": "The right robotic arm moves to the plate on the table, grasps the knife and places it on the table next to the apple, then grasps the fork from the plate and places it beside the knife on the table, then retrieves the knife from the table and places it back on the plate, finally retrieves the fork from the table and places it back on the plate next to the knife.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 251, "tasks": ["place utensil"], "length": 182, "global_instruction": "Remove the green straw from the white cup and place it on the table surface", "scene_description": "A white round table holds a green apple, a white plate with a fork and knife, and a white cup with a green straw inside. A purple office chair sits left of the table, with an open office workspace and robotic arms in the background.", "global_instruction_dense": "The right robotic arm moves toward the green straw in the white cup, grasps the straw, pulls it out of the cup, lowers the straw to place it on the table next to the cup, releases the straw, then retracts back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 252, "tasks": ["place utensil"], "length": 344, "global_instruction": "Remove the green straw from the white cup and place it flat on the white table.", "scene_description": "A white round table holds a yellow apple, a white plate with a fork and knife, and a white cup with a green straw inside, set in an office workspace.", "global_instruction_dense": "The right robotic arm moves toward the green straw inside the white cup on the table, grasps the straw, lifts it out of the cup, lowers it onto the table surface, adjusts its position to lay flat next to the cup, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 253, "tasks": ["place utensil"], "length": 268, "global_instruction": "Take the green straw out of the white cup and place it on the table beside the cup.", "scene_description": "A round white table holds a yellow-green apple, a white plate with a fork and knife, and a white cup with a green straw. An office with desks, computers, and chairs is in the background, with a right robotic arm near the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the white cup on the round white table, grasps the green straw inside the cup, lifts the straw out of the cup, moves it to the area beside the cup, lowers and releases the straw onto the table, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 254, "tasks": ["place utensil"], "length": 202, "global_instruction": "Take the green straw out of the white cup and place it on the white table", "scene_description": "A white round table holds a green apple, a white plate with a metal fork and knife, and a white cup containing a green straw. A purple office chair sits to the left of the table, with an office workspace of desks, computers, and robotic equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the white cup on the round table, grasps the green straw inside the cup, lifts the straw out of the cup, moves it to the area next to the cup on the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 255, "tasks": ["place utensil"], "length": 896, "global_instruction": "Move the green apple from the plate to the table, then place the fork and knife onto the white plate.", "scene_description": "A white round table holds a white plate with a green apple, a silver fork next to the plate, and a white cup with a green straw on a small saucer. A purple office chair sits to the left of the table, with an office workspace of desks and monitors in the background.", "global_instruction_dense": "The right robotic gripper first reaches toward the green apple on the white plate, grasps it, moves it onto the white table surface next to the plate and releases it, then grasps the silver fork from the table, moves it onto the plate and releases it, finally grasps the silver knife from the table, moves it onto the plate next to the fork and releases it before retracting.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 256, "tasks": ["place utensil"], "length": 472, "global_instruction": "Take the green straw out of the white cup and place it on the white table", "scene_description": "A white round table holds a green apple, a white plate with silver cutlery, a small white saucer, and a white cup with a green straw. A purple office chair sits left of the table, office workstations are in the background, and a robotic arm is positioned at the right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the white cup on the table, grasps the green straw inside the cup, pulls the straw out of the cup, moves it over the table near the small white saucer, and releases the straw onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 257, "tasks": ["place utensil"], "length": 254, "global_instruction": "Place the white cup and white spoon onto the closer light brown wooden plate.", "scene_description": "A white table holds two round light brown wooden plates, a white plastic cup, and a white plastic spoon. The closer plate is at the lower section of the table, the farther plate is at the upper right adjacent to the cup and spoon, with a right robotic arm positioned at the right edge of the table.", "global_instruction_dense": "The right robotic arm first moves to grasp the white cup next to the far wooden plate, moves the cup to the closer wooden plate and releases it, then moves to grasp the white spoon, moves the spoon to the closer wooden plate and releases it, then retracts back to its starting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 258, "tasks": ["place utensil"], "length": 177, "global_instruction": "Place the single green straw on the white table into the white mug on the table.", "scene_description": "A white round table holds a pile of colorful plastic straws, a single separate green straw, and a white mug. A purple office chair with a blue bag sits to the left of the table, with an office area of desks and computers in the background.", "global_instruction_dense": "The right robotic gripper moves down toward the single green straw on the white table, grasps the straw, lifts it, moves it over the white mug, lowers and releases the straw into the mug, then moves upward away from the mug.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 259, "tasks": ["place utensil"], "length": 231, "global_instruction": "Place a plastic straw from the table into the white mug", "scene_description": "A white round table holds a pile of multicolored plastic straws and a white mug; the straws are left of the mug, a right robotic gripper is positioned above the right side of the table, with an office background including a purple chair and desks visible.", "global_instruction_dense": "The right robotic gripper moves toward the pile of straws on the table, grasps an orange plastic straw, lifts it, moves it over the white mug, and inserts the straw into the mug.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 260, "tasks": ["place utensil"], "length": 454, "global_instruction": "Place the loose green straws on the white round table into the white ceramic mug.", "scene_description": "A white round table is in an office space. A pile of colorful plastic straws (blue, orange, green) are on the left half of the table, a white ceramic mug with two straws (red, green) inside sits on the right half of the table, a purple office chair with a blue fabric bag rests to the left of the table, and office workstations with computers are in the background.", "global_instruction_dense": "The right robotic arm moves toward the loose green straws on the white round table, grasps each straw sequentially, lifts them, moves them over the white mug, and places each into the mug, adjusting straws inside the mug when a straw falls out.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 261, "tasks": ["place utensil"], "length": 352, "global_instruction": "Place the colorful plastic straws from the white round table into the white mug.", "scene_description": "A white round table has a pile of multicolored (blue, orange, green, yellow) plastic straws on its left half, and a white mug with two straws inside on its right half. A purple office chair with a blue bag sits to the left of the table, and desks with computers are visible in the office background.", "global_instruction_dense": "The right robotic arm enters from the upper right of the frame, moves toward the pile of multicolored straws on the table, grasps a green straw from the pile, then moves to grasp a green straw that fell onto the table surface, lifts it, moves it to the white mug, and inserts it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 262, "tasks": ["place utensil"], "length": 313, "global_instruction": "Place the colorful straws from the table into the white mug.", "scene_description": "A white round table holds a pile of multicolored (green, orange, blue, yellow) plastic straws on its left side, and a white mug with straws inside on its right side. A purple office chair with items on it is left of the table, and an office workspace is in the background.", "global_instruction_dense": "The right robotic arm moves from above the white mug to the pile of straws on the table, grasps a green straw, lifts it, moves it to the mug, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 263, "tasks": ["place utensil"], "length": 739, "global_instruction": "Pick up the multicolored straws from the white table and place them into the white mug.", "scene_description": "A white round table is in an office, with a pile of multicolored plastic straws centered on it, and a white mug with straws inside to the right of the pile. A purple office chair with a blue bag on its seat is to the left of the table, and office desks with computers are in the background.", "global_instruction_dense": "The right robotic arm moves into position above the table, repeatedly descends to grasp individual or multiple multicolored straws from the pile, lifts them, moves them over the white mug, releases the straws into the mug, and finally hovers above the remaining straws.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 264, "tasks": ["place utensil"], "length": 336, "global_instruction": "Place green straws from the table into the white cup", "scene_description": "A white round table has a pile of colorful plastic straws (blue, orange, green, purple, yellow) on its left side, and a white cup with green straws inside on its right side. A purple chair with a blue bag sits to the left of the table, with office workstations in the background.", "global_instruction_dense": "The right robotic arm moves toward the green straws on the table, grasps a green straw, lifts it, moves it over the white cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 265, "tasks": ["place utensil"], "length": 201, "global_instruction": "Place the separate green straw on the table into the white mug of straws.", "scene_description": "A white round table holds a pile of multicolored plastic straws on its left side and a white mug with green and yellow straws on its right side; a purple office chair with a blue bag sits to the left of the table, and office workstations are in the background.", "global_instruction_dense": "The right robotic gripper moves toward the single green straw on the white round table, grasps it, lifts it, moves it over the white mug holding other straws, releases the straw into the mug, and then moves away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 266, "tasks": ["place utensil"], "length": 225, "global_instruction": "Place the loose green straw on the table into the white mug holding other straws.", "scene_description": "A white round table sits in an office. A white mug filled with colorful straws is on the table, with loose green, blue, and yellow straws laid next to it. A purple chair with a blue bag is to the left of the table, and office desks are in the background.", "global_instruction_dense": "The right robotic arm moves toward the loose green straw on the white table, grasps it, lifts it, moves it over the white mug of straws, releases it into the mug, and moves away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 267, "tasks": ["place utensil"], "length": 1614, "global_instruction": "Place all loose colorful straws lying on the white table into the white mug on the table.", "scene_description": "A white round table holds a white mug filled with colorful straws, several loose blue, green, and yellow straws lying on the table surface, and a purple chair with a blue bag sits to the left of the table, with an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves toward the loose colorful straws on the white round table, grasps each loose straw one by one with its gripper, lifts each straw, moves it above the white mug on the table, releases the straw into the mug until all loose straws are stored in the mug, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 268, "tasks": ["place utensil"], "length": 196, "global_instruction": "Remove a green straw from the white mug and place it on the white round table.", "scene_description": "A white round table holds a white mug filled with colorful plastic straws on its right side. A purple office chair with a blue bag sits to the left of the table, with office work desks in the background.", "global_instruction_dense": "The right robotic arm moves toward the white mug holding multiple straws, grasps a green straw, pulls it out of the mug, lowers it onto the white round table, then releases the straw and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 269, "tasks": ["place utensil"], "length": 2157, "global_instruction": "Remove the colorful straws from the white mug and place them aligned on the white table next to the pre-laid straws.", "scene_description": "A white round table holds a white mug filled with colorful straws on its right side, plus one green and one blue straw laid flat on the table below the mug. A purple office chair with a light blue bag and small bottle sits to the left of the table, with office desks, monitors, and chairs in the background.", "global_instruction_dense": "The right robotic arm repeatedly moves to the white mug of colorful straws, grasps one individual straw at a time, lifts it out of the mug, moves it to the area with the existing flat green and blue straws on the table, releases it to align with the line of laid straws, and returns to the mug until all intended straws are placed on the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 270, "tasks": ["place utensil"], "length": 134, "global_instruction": "Take a red straw from the white mug and place it onto the table with other flat straws.", "scene_description": "A white round table has a pile of flat colorful straws on its lower half, and a white mug with more colorful straws on its upper right. A purple office chair with a blue bag and bottle is to the left of the table, with office desks and chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the round table, grasps a red straw inside the mug, lifts it out, moves it over the flat straws on the table, then releases the red straw to place it with the other flat straws.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 271, "tasks": ["place utensil"], "length": 973, "global_instruction": "Remove all straws from the white mug and place them on the white round table.", "scene_description": "A white round table holds a white mug filled with colorful straws, plus several loose colorful straws spread on the table surface in front of the mug. A purple office chair with a blue bag resting on it is to the left of the table, and office workstations with computers are visible in the background.", "global_instruction_dense": "The robotic arm moves to the white mug on the round table, sequentially grasps straws inside the mug, lifts each set of straws out of the mug, places them on the table surface, then adjusts the positions of the straws on the table, and finally moves toward a lone yellow straw on the left side of the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 272, "tasks": ["place utensil"], "length": 383, "global_instruction": "Place the blue straw on the table into the white mug.", "scene_description": "A white round table in a robotics lab holds a green cube, a multicolor rubik's cube, several colorful straws, a silver water bottle, a white mug with a spoon, a small blue liquid bottle with a purple cap, and a white bowl, with tripods and other robotic equipment in the background.", "global_instruction_dense": "The right robotic arm moves down toward the blue straw on the white table, grasps the straw, lifts it, moves it over the white mug, lowers it into the mug, releases the straw, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 273, "tasks": ["place utensil"], "length": 218, "global_instruction": "Pick the blue straw from the white mug and place it into the white bowl.", "scene_description": "A white round table holds a white mug with a blue straw and metal utensil inside, a small green cube, a blue mini spray bottle, a small black item, a silver insulated bottle, a white bowl, three thin straws (two green, one orange), and a multicolored Rubik's cube. A right robotic arm is positioned at the top right, with lab equipment, desks, and a tripod in the background.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the round table, grasps the blue straw inside the mug, lifts the straw out of the mug, moves it over the adjacent white bowl, and releases the straw into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 274, "tasks": ["place utensil"], "length": 188, "global_instruction": "Remove the blue straw from the white bowl and place it on the table near the Rubik's cube.", "scene_description": "A white round table holds a white mug with a metal spoon, a small green cube, a turquoise small bottle, a silver thermos, a white bowl with a blue straw inside, three small straws (two green, one orange), a Rubik's cube, and a yellow square block, with a right robotic arm positioned above the table.", "global_instruction_dense": "The right robotic gripper moves toward the white bowl on the round table, grasps the blue straw inside the bowl, lifts the straw out, moves it to the area near the Rubik's cube on the table, places the straw down, and lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 275, "tasks": ["place utensil"], "length": 1588, "global_instruction": "Place all cups and the bowl from the kitchen counter into the open drawer below the counter.", "scene_description": "A silver microwave is positioned on the left of a white kitchen counter. On the counter, from left to right: a plain white cup, a white mug with yellow interior, a white cup with black rim, a light blue bowl, and a dark colored mug. An open drawer sits below the right side of the counter, with a right robotic arm located to the right of the counter.", "global_instruction_dense": "The right robotic arm sequentially grasps the white mug with yellow interior, white cup with black rim, light blue bowl, dark colored mug, and plain white cup from the kitchen counter, moves each item down into the open drawer below the counter, releases each item into the drawer, and retracts away from the drawer after all items are placed.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 276, "tasks": ["place utensil"], "length": 363, "global_instruction": "Place a metal utensil from the blue cutlery tray onto the nearer white plate", "scene_description": "A white table holds a blue compartmentalized cutlery tray with metal utensils, a purple snack package left of the tray, and two white plates right of the tray. A white robotic arm is positioned at the right of the table, with a gray sofa, black backpack, and green/red chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue cutlery tray, grasps a metal utensil from the tray, lifts it, moves it over the closer white plate, lowers it, releases the utensil onto the plate, then moves away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 277, "tasks": ["place utensil"], "length": 337, "global_instruction": "Pick a metal utensil from the blue cutlery tray and place it on the white tabletop.", "scene_description": "A white table holds a blue cutlery tray with metal utensils, a purple snack bag, and two white plates, with a right robotic arm at the table's right edge. A grey couch with a black backpack is in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue cutlery tray on the white table, grasps a metal utensil from the tray, lifts the utensil, moves it to the area next to the tray, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 278, "tasks": ["place utensil"], "length": 1650, "global_instruction": "Place all cutlery from the table into the blue divided tray.", "scene_description": "A white table holds a blue divided tray near its center, a pile of cutlery to the right of the tray, a white plate on the left end of the table, and a second white plate at the far right end of the table. A white right robotic arm is positioned at the right edge of the table, with a grey sofa holding a black backpack visible in the background.", "global_instruction_dense": "The right robotic arm repeatedly moves to the pile of cutlery on the white table, grasps a piece of cutlery, moves it over the blue divided tray, and releases it into the tray until all cutlery is placed inside the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 279, "tasks": ["place utensil"], "length": 843, "global_instruction": "Take all utensils out of the blue tray and place them on the adjacent white table surface.", "scene_description": "A white table holds a blue segmented utensil tray at its center, a white plate on the left section of the table, another white plate on the far right section of the table; a white robotic arm is positioned to the right of the table, and a grey couch with a black backpack rests in the background.", "global_instruction_dense": "The right robotic arm repeatedly moves to the blue segmented tray on the white table, grasps a utensil from the tray, lifts and moves the utensil to the empty table area next to the tray, releases the utensil onto the table, until all utensils from the tray are placed on the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 280, "tasks": ["place utensil"], "length": 465, "global_instruction": "Remove metal utensils from the blue tray and place them on the white table beside the tray.", "scene_description": "A white table holds a white round plate on its left side, a blue rectangular tray containing metal utensils in the middle, and a white robotic arm on its right side; green and red chairs are positioned around the table, with a gray couch and black backpack visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue tray on the table, grasps a metal utensil from inside the tray, lifts it, moves it to the table surface next to the tray and releases it, then repeats this process to place a second metal utensil from the tray onto the table before moving back toward the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 281, "tasks": ["place utensil"], "length": 277, "global_instruction": "Place the silver utensil from the blue tray with the other utensils on the table.", "scene_description": "A white table holds a white plate on its left, a blue partitioned tray at its center, and multiple silver eating utensils to the right of the tray, with a right robotic arm positioned above the right side of the table.", "global_instruction_dense": "The right robotic gripper moves leftward from above the right side of the table toward the blue center tray, grasps the silver utensil inside the tray, lifts it, moves rightward to the group of utensils on the table, lowers the utensil, and releases it next to the other utensils.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 282, "tasks": ["place utensil"], "length": 308, "global_instruction": "Place a silver utensil from the table into the blue tray", "scene_description": "A white table holds two white plates, a blue rectangular tray, and several silver cutlery pieces to the right of the tray; a white robotic arm is positioned on the right side of the table, with a gray couch holding a black backpack and green, red chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the silver cutlery on the table, grasps a metal utensil, lifts it, moves it over the blue tray, lowers it, and releases it into the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 283, "tasks": ["place utensil"], "length": 1063, "global_instruction": "Place the spoon and pair of chopsticks next to the blue tray into the blue cutlery tray.", "scene_description": "A white table holds a white plate on its left side, an orange beverage can at its center, a blue compartmentalized cutlery tray on its upper middle, and a spoon plus a pair of chopsticks to the right of the tray. A white robotic arm is positioned at the right edge of the table, with a gray sofa holding a black backpack in the background.", "global_instruction_dense": "The right robotic arm extends toward the chopsticks and spoon to the right of the blue tray on the white table, sequentially picks up each chopstick and the spoon, places each into the blue cutlery tray, adjusts their positions in the tray, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 284, "tasks": ["place utensil"], "length": 552, "global_instruction": "Place metal utensils from the blue segmented tray onto the white table next to the plate.", "scene_description": "A white table holds an orange canned beverage, a blue segmented tray with metal utensils, and a white empty plate. The can is left of the tray, the plate is right of the tray, and a robotic arm is at the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the blue segmented utensil tray, grasps metal utensils from the tray, moves them to the area beside the white plate, releases them onto the table, and repeats the process for a second set of utensils before moving away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 285, "tasks": ["place utensil"], "length": 458, "global_instruction": "Place a utensil from the blue cutlery tray onto the table next to the white plate.", "scene_description": "A white table holds an orange aluminum can, a blue cutlery tray with utensils inside, a metal spoon, a white oval plate, and books at its far end; a white robotic arm is positioned at the right side of the table, and a gray couch with a black backpack is in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue cutlery tray on the table, lowers its gripper to grasp a metal utensil from the tray, lifts the utensil, moves it over the table near the white plate, then lowers and releases the utensil onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 286, "tasks": ["place utensil"], "length": 1079, "global_instruction": "Transfer utensils from the right clear glass cup to the left clear glass cup on the black table mat.", "scene_description": "A white round table holds a green book, yellow, red and black blocks, a black remote, a red marker, and two clear glass cups on a black mat; one cup contains black pens, the other holds silver scissors and utensils, with a right robotic arm positioned at the table's right side in a lab environment.", "global_instruction_dense": "The right robotic arm repeatedly reaches toward the right clear glass cup on the black mat, grasps individual pens and scissors, moves each item over the left clear glass cup, places it inside, and returns to retrieve more utensils until the transfer is complete.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 287, "tasks": ["place utensil"], "length": 934, "global_instruction": "Repeatedly grasp utensils from the clear glass cup on the table, lift them, and place them back into the cup.", "scene_description": "A round white table in a lab workspace holds a green book, a black remote, a clear glass cup with utensils, and yellow, green, orange blocks on a black mat, with a robotic arm positioned to the table's right.", "global_instruction_dense": "The right robotic arm moves toward the clear glass cup on the round white table, repeatedly grasps utensils inside the cup, lifts each utensil briefly, then lowers and releases each utensil back into the cup before moving away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 288, "tasks": ["place utensil"], "length": 848, "global_instruction": "Place the knife and fork from the plate onto the black placemat beside the white plate.", "scene_description": "A white round table holds a green book, red and yellow cubic blocks, a black-and-white cylindrical container, a yellow-and-white cup, a pink rod, a black remote control, and a black placemat with a white plate, a knife and a fork on it. A white robotic arm is positioned to the right of the table, with lab equipment including tripods and other robotic arms in the background.", "global_instruction_dense": "The right robotic arm moves toward the white plate on the black placemat, grasps the knife, places it on the right side of the plate on the placemat, then grasps the fork, places it on the left side of the plate on the placemat, adjusts the fork's position, and returns to its initial resting position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 289, "tasks": ["place utensil"], "length": 345, "global_instruction": "Place the chopstick at the correct position next to the white plate on the black placemat.", "scene_description": "A white round table in a robotics lab holds a green book, red and yellow cubic blocks, a black-and-white cylindrical cup, a yellow-and-white cylindrical cup, a black remote control, a pink long stick, a black placemat with a white plate and silver knife, an extra white plate at the table edge, and a long silver chopstick beside the plate; a right robotic arm is positioned to the right of the table, with other lab equipment, tripods and robots in the background.", "global_instruction_dense": "The right robotic arm moves toward the chopstick beside the white plate on the table, grasps it to adjust its position, releases it, then moves toward it again to readjust its position before moving away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 290, "tasks": ["place utensil"], "length": 469, "global_instruction": "Place the metal utensil from the white table into the black cup on the table", "scene_description": "A white round table holds a green book, red and yellow blocks, a black remote, a yellow and white cup, a pink strip, a black cup with a spoon, and stacked white plates on a black placemat. A robotic arm is positioned to the right of the table, with lab equipment, tripods, and other robotic arms in the background.", "global_instruction_dense": "The right robotic arm moves toward the metal utensil lying next to the plates on the white round table, grasps the utensil with its gripper, lifts it, moves it over the black cup on the table, lowers the utensil into the cup, releases it, then moves back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 291, "tasks": ["place utensil"], "length": 471, "global_instruction": "Place a utensil from the dark cup onto the black placemat next to the white plate.", "scene_description": "A white round table in a lab workspace holds a green book, two sets of red-yellow cubes, a red frame-shaped object, a black remote, a yellow-white cup, a pink rectangular bar, a green cube, small dark objects, a dark cup with utensils, a black placemat, and a white plate on the placemat, with a right robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the dark utensil cup on the white round table, grasps a utensil from inside the cup, lifts and moves the utensil over the black placemat beside the white plate, lowers the utensil, places it on the placemat, then releases and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 292, "tasks": ["place utensil"], "length": 658, "global_instruction": "Place a fork and a knife onto the white plate on the round table.", "scene_description": "A white round table holds a white plate on a black placemat, a white mug with yellow interior, a gray and white mug, a green book, small multicolored blocks, a black remote, a pink rectangular strip, and a red cutout shape. A white robotic arm is positioned to the right of the table, with lab equipment, tripods, and other robotic systems in the background.", "global_instruction_dense": "The right robotic arm extends toward the table, grasps a fork, lifts and places it on the white plate, then grasps a knife, lifts it, places it on the plate, and adjusts the knife's position on the plate.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 293, "tasks": ["place utensil"], "length": 955, "global_instruction": "Adjust the utensil in the black mug and place the orange pencil and blue pen into the yellow mug on the table.", "scene_description": "A white round table in a lab holds a green book, red-yellow stacked blocks, a black remote, a red square frame, a pink item, a yellow mug, a black mug, an orange pencil, a blue pen, a black mat, a white plate, small green and orange blocks, and a tiny black item; a right robotic arm is positioned at the right side of the table, with tripods and work desks visible in the background.", "global_instruction_dense": "The right robotic arm first moves toward the black mug to adjust the utensil inside it, then moves to grasp the orange pencil from the black mat, carries it to the yellow mug and places it inside, then grasps the blue pen from the black mat, carries it to the yellow mug and places it inside, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 294, "tasks": ["place utensil"], "length": 847, "global_instruction": "Place a spoon and a thin eating utensil into the white cup with yellow interior on the round table.", "scene_description": "A white round table holds a green book, red and yellow stacked blocks, a black remote control, a white cup with a yellow interior resting on stacked white plates atop a black placemat, plus small colorful blocks and containers, in a robotics lab workspace. A right robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the spoon on the black placemat next to the cup, grasps the spoon, lifts it, places it into the white cup with yellow interior, releases the spoon, moves away then returns to grasp a thin eating utensil, lifts it, places it into the same cup, releases the utensil, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 295, "tasks": ["place utensil"], "length": 202, "global_instruction": "Remove the utensil from the metal pot and place it on the wooden table next to the pot.", "scene_description": "A silver metal pot holding a black-and-white utensil rests on a brown wooden table in a lab workspace, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm moves downward toward the metal pot on the wooden table, grasps the utensil inside the pot, lifts the utensil out of the pot, moves it to the table surface beside the pot, lowers and releases it, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 296, "tasks": ["place utensil"], "length": 223, "global_instruction": "Place the small utensil resting on the edge of the stainless steel pot into the pot.", "scene_description": "A small stainless steel pot sits on a brown wooden table, a small utensil rests on the left edge of the pot, and a cardboard panel leans against the back edge of the table in a laboratory workspace.", "global_instruction_dense": "The left robotic arm moves toward the small utensil on the edge of the stainless steel pot, grasps it, lifts it upward, positions it over the opening of the pot, lowers it, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 297, "tasks": ["place utensil"], "length": 149, "global_instruction": "Move the green-handled utensil to the right side of the brown table.", "scene_description": "A brown wooden table holds a green-handled utensil, a folded blue cloth, a white ball with a black stripe, a yellow round plate, and a silver metal pot, with a robotic arm positioned above the table and lab equipment plus a seated person in the background.", "global_instruction_dense": "The right robotic arm lowers toward the green-handled utensil on the brown table, grasps it, moves it horizontally to the right, lowers it onto the table, and releases the utensil.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 298, "tasks": ["place utensil"], "length": 261, "global_instruction": "Pick up the orange-handled utensil and place it next to the white bowl on the table.", "scene_description": "A brown table in a robotics lab holds a white bowl with a pink sponge inside, a folded light blue towel, an orange-handled utensil, and a small metal pot.", "global_instruction_dense": "The right robotic arm moves into the frame, lowers to grasp the orange-handled utensil on the brown table, lifts and moves it to the area next to the white bowl, lowers it onto the table, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 299, "tasks": ["place utensil"], "length": 165, "global_instruction": "Place the red utensil from the gray mug into the red cup", "scene_description": "A white round table holds a white tray with a red plate, a gray mug with a red utensil inside, and a wooden activity board. Next to the tray are a red cup, small metal containers, a red bowl, a green bottle, an egg rack with eggs, and a clear measuring cup. A robotic arm is positioned above the left side of the table, with a glass door and whiteboard in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the gray mug, grasps the red utensil inside it, lifts the utensil, moves it over the red cup, lowers it into the cup, then releases the utensil and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 300, "tasks": ["place utensil"], "length": 234, "global_instruction": "Reposition the gray-handled utensil on the table to a spot near the red bowl.", "scene_description": "A white round table holds an orange tomato-shaped toy, a silver metal bowl, a red plastic cup, a red plastic bowl with dark contents, metal utensils, a gray-handled utensil, a white cloth, and a black lidded pot. A robotic gripper is positioned above the upper right of the table, its base with green lights is to the left of the table.", "global_instruction_dense": "The right robotic gripper moves downward from its starting position above the table toward the gray-handled utensil, grasps it, lifts it slightly, moves it horizontally across the table, and places it near the red bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 301, "tasks": ["place utensil"], "length": 264, "global_instruction": "Pick up the red scoop from the red bowl and place it on the table next to the clear measuring cup.", "scene_description": "A white round table holds a blue box at its far end, a clear plastic measuring cup with dark contents, a red scoop resting in a red bowl, a red mug, a second red bowl with orange and green items, a small silver lid, and a silver container. A robotic arm is positioned above the upper side of the table.", "global_instruction_dense": "The right robotic gripper moves down toward the red scoop in the red bowl, grasps the scoop, lifts it from the bowl, moves it left to the area next to the clear measuring cup, places it on the table surface, releases the grip, and lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 302, "tasks": ["place utensil"], "length": 212, "global_instruction": "Remove the black spatula from the black cooking pot and place it on the white table.", "scene_description": "A white round table holds a black cooking pot with a black spatula inside, a folded white cloth, and a glass lid. A white Franka robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the black spatula inside the black cooking pot, grasps its handle, lifts the spatula out of the pot, moves it over the white table, lowers it, releases it onto the table surface, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 303, "tasks": ["place utensil"], "length": 840, "global_instruction": "Place the red mug, white cup, stainless steel container, and stainless steel lid into the open blue box, then close the box flaps.", "scene_description": "A white round table holds an open blue cardboard box at its center, with a red mug, a small white cup, a small stainless steel container, and a stainless steel lid placed to the right of the box; a red cabinet with a brown box and white paper on top is visible in the left background.", "global_instruction_dense": "The right robotic arm sequentially grasps the red mug, small white cup, small stainless steel container, and stainless steel lid to the right of the open blue box on the table, lifts each object and places it inside the box, then grasps and folds the box's open flaps to fully close the box.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 304, "tasks": ["place utensil"], "length": 846, "global_instruction": "Place the silver cutlery from the table into the red mug", "scene_description": "A white tabletop holds a dark frying pan, red plates, red bowls, silver cutlery, a green small bottle, a white mug, a wooden peg puzzle, eggs, a red mug, and white cloths with red stripes, with a robotic arm positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm moves down to the table, grasps pieces of silver cutlery one by one, lifts each piece, moves it toward the red mug, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 305, "tasks": ["place utensil"], "length": 629, "global_instruction": "Reposition the frying pan to face left and place the red-handled utensil into the red bowl.", "scene_description": "A white round table holds a white tray with a dark frying pan, red mug, red-handled cutlery, and a white cloth with red stripes. Around the tray are a small red bowl, white mug, small metal containers, and yellow food items, with a white robotic arm to the left, a glass-paneled door, and a small whiteboard in the background.", "global_instruction_dense": "The left robotic arm moves to grasp the dark frying pan's handle, rotates the pan to point its handle left, releases the pan, then moves to grasp the red-handled utensil, lifts it, transports it to the small red bowl at the back of the table, places the utensil inside the bowl, and moves its gripper away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 306, "tasks": ["place utensil"], "length": 201, "global_instruction": "Place the red-capped lipstick from inside the gray mug onto the white table.", "scene_description": "A white table holds a gray mug with a teal handle, a red-capped lipstick rests inside the mug, and a left robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm moves toward the gray mug on the white table, lowers its gripper into the mug to grasp the red-capped lipstick, lifts the lipstick out of the mug, and places it onto the white table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 307, "tasks": ["place utensil"], "length": 402, "global_instruction": "Take the brown lipstick out of the dark cup and place it on the white table.", "scene_description": "A dark cup holding a brown lipstick is positioned on a white table, with a robotic gripper above the table.", "global_instruction_dense": "The right robotic gripper moves down toward the dark cup, adjusts its position multiple times to grasp the brown lipstick inside the cup, lifts the lipstick out of the cup, moves it to an empty spot on the white table, and releases the lipstick onto the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 308, "tasks": ["place utensil"], "length": 161, "global_instruction": "Remove the thin stick from the clear glass and place it on the table next to the green tennis ball", "scene_description": "A dark brown table holds a green tennis ball, small yellow cup, orange toy car, clear glass with a thin stick inside, folded white cloth, small white card, two coins, and a black case at its far end. A right robotic arm is positioned above the right side of the table, with interior doors in the background.", "global_instruction_dense": "The right robotic arm moves toward the thin stick inside the clear glass on the table, grasps the stick, lifts it out of the glass, moves it to the area next to the green tennis ball, lowers it, releases it onto the table, and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 309, "tasks": ["place utensil"], "length": 255, "global_instruction": "Pick the white wooden stick from the light blue cup and place it on the kitchen counter near the cleaning brush.", "scene_description": "A white tiled kitchen counter holds a translucent white pitcher with a red lid, a light blue cup, a small cleaning brush with a dark blue top, a striped dish cloth, and a white toaster oven against white tiled walls, with white upper cabinets and a robotic arm base on the right counter edge.", "global_instruction_dense": "The right robotic arm lowers toward the light blue cup on the kitchen counter, grasps the white wooden stick inside the cup, lifts the stick, moves it across the counter, releases it next to the small cleaning brush, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 310, "tasks": ["place utensil"], "length": 182, "global_instruction": "Move the metal utensil next to the blue cup onto the white plate.", "scene_description": "A white tiled kitchen counter has a white bowl, a white plate, a blue two-handled cup arranged left to right, a green cutting board at the front left, and a right robotic arm positioned above the right side of the counter, with kitchen cabinets in the background.", "global_instruction_dense": "The right robotic arm moves down from its starting position above the right of the counter, approaches the area next to the blue cup, moves the small metal utensil from beside the cup onto the white plate, then lifts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 311, "tasks": ["place utensil"], "length": 235, "global_instruction": "Pick up the white utensil from the white plate and place it into the blue mug", "scene_description": "A white tiled kitchen counter holds a black clock, green container, white bowl, white plate with a white utensil, small white cup, and blue mug, with a robotic arm positioned at the top right of the scene.", "global_instruction_dense": "The right robotic arm moves downward toward the white plate on the counter, grasps the white utensil on the plate, lifts it, moves it over the blue mug, lowers it into the mug, and releases the utensil inside the mug.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 312, "tasks": ["place utensil"], "length": 620, "global_instruction": "Place the metal utensils on the kitchen counter into the white toaster oven.", "scene_description": "A white toaster oven sits on the left of a white tiled kitchen counter; metal utensils, paper towels, and a green cup rest on the counter in front of the oven, with a sink and white upper cabinets in the background, and a robotic arm is positioned above the counter at the top right.", "global_instruction_dense": "The right robotic arm first pulls open the door of the white toaster oven on the kitchen counter, then grasps each metal utensil from the counter one by one, moves each utensil into the open toaster oven, and releases them inside the oven.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 313, "tasks": ["place utensil"], "length": 468, "global_instruction": "Grasp and reposition the white plastic utensil on the lemon-patterned table.", "scene_description": "A table covered with a blue lemon-patterned tablecloth holds a silver soda can, yellow lidded cup, white bowl, white trash bin, white mug, shallow white bowl, purple packaged item, white plastic utensil, small glass jar, and green round object, with floral-curtained windows and a framed wall picture in the background.", "global_instruction_dense": "The right robotic arm descends from above the table, grasps the white plastic utensil on the tablecloth, moves the utensil across the table surface multiple times, then releases it back onto the tablecloth.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 314, "tasks": ["place utensil"], "length": 147, "global_instruction": "Pick up the metal tongs next to the red container and place them on the kitchen counter.", "scene_description": "A white tiled kitchen counter holds a blue cloth, a small green clock on the tiled back wall, a red lidded container on a white left surface, dishes at the far counter end, and a right robotic arm on the right.", "global_instruction_dense": "The right robotic arm moves toward the metal tongs adjacent to the red lidded container, grasps and lifts them, moves them over the tiled kitchen counter, lowers them, and releases them onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 315, "tasks": ["place utensil"], "length": 459, "global_instruction": "Place the scattered silver utensils on the wooden dining table into the white patterned plate.", "scene_description": "A wooden dining table holds a white patterned plate, scattered silver utensils, a black remote, a white napkin, and a black mug. A white chest of drawers sits under louvered windows next to a wooden chair, with a brass chandelier overhead and a doorway to a living room with a gray sofa in the background.", "global_instruction_dense": "The right robotic arm moves above the wooden dining table, grasps scattered silver utensils one by one, transports each utensil to the white patterned plate, and releases each into the plate to collect the cutlery.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 316, "tasks": ["place utensil"], "length": 646, "global_instruction": "Place utensils from the open lower drawer onto the kitchen countertop.", "scene_description": "A white tiled kitchen counter under lit upper white cabinets holds a white microwave (with a light rolling pin on top), a pink and white granulated sugar box, a green cloth, a white plate, two clear water bottles with pink labels, a black vintage clock, a black portafilter, white bowls, and a black spoon. A white robotic arm is positioned at the upper right, with an open drawer below the counter.", "global_instruction_dense": "The right robotic arm moves down into the open lower drawer, grasps a utensil, lifts it up, places it on the edge of the white tiled kitchen counter, then returns to the drawer to repeat the action for a second utensil.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 317, "tasks": ["place utensil"], "length": 837, "global_instruction": "Place all utensils scattered on the kitchen counter onto the white plate.", "scene_description": "A white tiled kitchen counter holds a white plate, scattered silver and purple utensils, a black cup, two clear water bottles, a pink and white sugar box, a green cloth, a vintage black clock, and a white microwave on the far left, with upper white cabinets above the counter, and a right robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm sequentially grasps each utensil scattered on the kitchen counter, moves each utensil over the white plate, releases the utensil onto the plate, and finally adjusts the arrangement of utensils on the plate.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 318, "tasks": ["place utensil"], "length": 539, "global_instruction": "Pick up the black slotted spatula from the counter, place it into the clear pitcher in the sink, and tip the pitcher using the spatula.", "scene_description": "A white kitchen sink holding a clear plastic pitcher and green scrubber sits beside a white countertop with a black slotted spatula, red small bowl, white dish rack, white soap bottle, white carton, and yellow patterned container. A red floral curtain hangs to the left of the sink, and a right robotic arm is positioned above the countertop.", "global_instruction_dense": "The right robotic arm moves toward the black slotted spatula on the countertop, grasps it, lifts it, moves it over the clear plastic pitcher in the sink, lowers and places it into the pitcher, then re-grasps the spatula handle, uses the spatula to tip the pitcher in the sink, and finally releases the spatula and moves upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 319, "tasks": ["place utensil"], "length": 559, "global_instruction": "Pick up the orange-handled spatula from the table, move it, then place it back on the table.", "scene_description": "A brown wooden table holds a white old-style monitor on the left, an orange-handled gray spatula, a metal spoon, a black keyboard, a white bowl, and assorted items, with two white Franka robotic arms on the right side of the table.", "global_instruction_dense": "The left robotic arm descends to the orange-handled spatula on the wooden table, grasps it, lifts and maneuvers it through the air, then lowers and releases it back onto the table near the metal spoon.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 320, "tasks": ["place utensil"], "length": 898, "global_instruction": "Place all silver utensils from the stove into the white dish rack.", "scene_description": "A white gas stove, a white plastic dish rack on the counter to the left of the stove, silver utensils on the stove surface, white upper cabinets, and a right robotic arm positioned above the stove.", "global_instruction_dense": "The right robotic arm repeatedly moves to the stove to grasp a silver utensil, lifts the utensil, moves it over the white dish rack, and releases it into the rack until all utensils are placed.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 321, "tasks": ["place utensil"], "length": 584, "global_instruction": "Pick up metal utensils from the gas stove and place them into the white cup in the dish rack.", "scene_description": "A white plastic dish rack holding a white cylindrical cup sits on the left kitchen counter next to a white gas stove. The stove has black burner grates, a dark green kettle at its rear right, an orange knife block beside the kettle, and a robotic arm positioned above the stove.", "global_instruction_dense": "The right robotic arm moves down to the gas stove, grasps a metal spoon, lifts and moves it over the white cup in the adjacent dish rack and releases the spoon into the cup, then moves back to the stove to grasp a metal fork, lifts and moves it over the cup, and releases the fork into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 322, "tasks": ["place utensil"], "length": 492, "global_instruction": "Place the metal utensils from the white cylindrical holder in the dish rack onto the gas stove.", "scene_description": "A white plastic dish rack sits on a kitchen counter, with a white cylindrical holder inside holding two silver metal utensils. A white gas stove is behind the counter, with a dark teal kettle and wooden knife block on its rear edge, white upper cabinets are above the counter, a white refrigerator is to the right, and a robotic arm is at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves down toward the white cylindrical holder in the dish rack, grasps a metal utensil, lifts it, moves it over the gas stove and releases it onto the stove, then returns to grasp, lift, move, and release the remaining metal utensil from the holder onto the stove before moving upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 323, "tasks": ["place utensil"], "length": 336, "global_instruction": "Pick a metal utensil from the utensil holder and place it into the dish drying rack.", "scene_description": "A white kitchen counter with white upper cabinets, a white dish drying rack holding a silver pot lid, a white utensil holder containing metal utensils, a white gas stove with a brown pot on one burner, a dark green kettle, and a knife block in the background, with a robotic arm in the upper right area.", "global_instruction_dense": "The right robotic arm moves downward toward the white utensil holder on the dish rack, grasps a metal utensil, lifts it, moves it over the dish drying rack, lowers it, and releases it into the rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 324, "tasks": ["place utensil"], "length": 303, "global_instruction": "Place the metal utensil into the white cylindrical utensil holder in the dish drying rack", "scene_description": "A kitchen with white upper cabinets, an off-white tiled backsplash, a white gas stove with a brown pot on the front burner, a dark teal kettle and orange knife block at the back of the stove, and a white plastic dish drying rack in the foreground holding a silver pot lid and a white cylindrical utensil holder. A robotic arm is positioned on the right side of the stove.", "global_instruction_dense": "The right robotic arm moves toward the metal utensil on the stove, grasps it, lifts and carries it to the white cylindrical utensil holder in the front dish drying rack, lowers the utensil into the holder, releases it, and then retracts away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 325, "tasks": ["place utensil"], "length": 337, "global_instruction": "Place the black spatula into the white dish rack on the kitchen countertop.", "scene_description": "A white dish rack sits on a kitchen countertop adjacent to a white gas stove. A right robotic arm holding a black spatula is positioned above the stove, with white upper cabinets on the left tiled wall.", "global_instruction_dense": "The right robotic arm moves downward toward the white dish rack while holding the black spatula, positions and releases the spatula into the dish rack, then moves upward away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 326, "tasks": ["place utensil"], "length": 429, "global_instruction": "Place the light blue slotted spatula from the stove into the white utensil holder in the dish rack.", "scene_description": "A kitchen with white upper cabinets above a tiled backsplash. A white dish rack in the foreground holds a white utensil cup with metal spoons, a black spatula, and a silver pot lid. Behind the rack is a white gas stove with a brown pot on a burner and a light blue slotted spatula resting on the stove surface, with a robotic arm positioned above the stove.", "global_instruction_dense": "The right robotic arm descends to grasp the light blue slotted spatula on the stove, lifts and moves it left to the white utensil holder in the dish rack, lowers and releases the spatula into the holder, then retracts upward to its initial position above the stove.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 327, "tasks": ["place utensil"], "length": 220, "global_instruction": "Pick up the black tongs from the gas stove and place them into the white dish drainer", "scene_description": "White upper kitchen cabinets are mounted above a light beige tiled backsplash. A white dish drainer sits in the foreground, holding a blue slotted serving fork, a black utensil, and a silver pot lid with a black knob. Behind the drainer is a white gas stove with a small brown pot on the front burner, a wooden knife block with knives at the stove's rear, and black tongs resting on the stovetop. A white robotic arm is positioned at the upper right above the stove.", "global_instruction_dense": "The right robotic arm moves down toward the black tongs resting on the white gas stove, grasps the tongs, lifts them, moves them leftward over the foreground white dish drainer, lowers the tongs into the drainer, releases them, and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 328, "tasks": ["place utensil"], "length": 275, "global_instruction": "Pick up the orange-handled slotted spatula from the wooden desk and place it in a new position on the desk.", "scene_description": "A brown wooden desk holds an open white toaster oven, a dark blue mug atop the oven, a black keyboard to the oven's right, an orange-handled slotted spatula near the keyboard, a silver spoon below the oven, and a black-topped metallic device to the oven's left; a white robotic arm is positioned in the upper right, with a white dresser and wooden chairs in the background.", "global_instruction_dense": "The right robotic gripper lowers toward the orange-handled slotted spatula on the desk, grasps it, lifts and moves it across the desk, places it onto the desk surface, then retracts back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 329, "tasks": ["place utensil"], "length": 271, "global_instruction": "Pick up the yellow straw from the brown mug and place it on the background counter.", "scene_description": "A table covered with a light pink cloth holds a brown mug with a yellow straw and a tan straw hat. A black metal rack to the table's left has a pink-and-white striped blanket and a black radio on it, with a white counter of miscellaneous items under windows in the background, and a robotic arm positioned at the top right of the scene.", "global_instruction_dense": "The right robotic gripper moves from its initial position at the right side of the scene toward the yellow straw in the brown mug on the cloth-covered table, grasps the straw, lifts it out of the mug, moves it over to the background white counter, places the straw on the counter, then moves back away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 330, "tasks": ["place utensil"], "length": 537, "global_instruction": "Transfer the black pen from the basket's cup to the table, then place tabletop cutlery into the basket's cup.", "scene_description": "A white perforated basket holding a white cylindrical cup with a black pen inside sits on a table. To the basket's left are a green and white bucket and a blue cloth, a white glue bottle is behind the basket, two wooden lattice-back chairs are against a wall with floral print curtains, and a Franka Emika robotic arm is positioned at the upper right of the scene.", "global_instruction_dense": "The right Franka Emika robotic arm moves toward the white cup in the white perforated basket, grasps the black pen inside the cup, lifts it, moves it to the table left of the basket and releases it, then sequentially grasps two black cutlery pieces and a metal spoon from the table, moves each to the cup in the basket, and releases them into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 331, "tasks": ["place utensil"], "length": 528, "global_instruction": "Place all utensils from the green cup onto the washing machine surface.", "scene_description": "A translucent green cup holding red, yellow, and silver utensils, a blue bowl with granular contents, and an orange Tide detergent box rest on a white washing machine surface, with windows showing outdoor trees in the background.", "global_instruction_dense": "The single robotic arm moves toward the green cup, sequentially grasps the silver, yellow, and red utensils from inside the cup, lifts each utensil, moves it right, and places it on the washing machine surface next to the blue bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 332, "tasks": ["place utensil"], "length": 488, "global_instruction": "Place the blue plastic scoop into the open orange Tide detergent box.", "scene_description": "An open orange Tide detergent box, clear plastic bag with white contents, blue plastic scoop, yellow flat tool, green cup, and purple cup rest on the white top of an Amana washing machine, with a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm first adjusts the position of the open orange Tide detergent box, then moves to grasp the blue plastic scoop on the washing machine surface, lifts the scoop, moves it over the Tide box, releases the scoop to drop it inside the box, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 333, "tasks": ["place utensil"], "length": 300, "global_instruction": "Place the metal spatula next to the blue plastic stand on the table.", "scene_description": "A light brown wooden table sits below a window with white horizontal blinds. On the table are a purple book, white paper cup, folded white paper, blue plastic stand with a white cloth draped over it, silver stapler, dark metal spatula, metal fork, and yellow banana. A white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm first moves the silver stapler to a new position on the table, then grasps the dark metal spatula, lifts it, moves it to the side of the blue plastic stand, releases it, and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 334, "tasks": ["place utensil"], "length": 193, "global_instruction": "Pick up the spatula on the table and place it near the crumpled white cloth.", "scene_description": "A light brown wooden table sits next to a window with white horizontal blinds. On the table: a blue plastic grid stand with white paper draped over it, a pair of yellow rubber gloves, a metal spoon, a crumpled white cloth, small colored discs, and a spatula under the gloves. A white and black robotic arm is positioned above the right side of the table, with a yellow-black warning barrier, dark door, and white TV shelf in the background.", "global_instruction_dense": "The right robotic arm moves down toward the spatula partially under the yellow gloves, grasps it, lifts it, moves it right across the table, and releases it next to the crumpled white cloth.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 335, "tasks": ["place utensil"], "length": 300, "global_instruction": "Pick up the metal-handled spatula from the table, move it over the table surface, then place it back onto the table.", "scene_description": "A light brown wooden table holds a white paper cup, metal fork, red/yellow/black small round discs, a blue vertical pegboard stand, a white rectangular box, a brown block, a small yellow cup near a window with white blinds, and a metal-handled silicone spatula; a white robotic arm is positioned at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the metal-handled silicone spatula on the table, grasps and lifts it, moves it over the table surface near the fork and colored small discs, then lowers it and releases it back onto the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 336, "tasks": ["place utensil"], "length": 208, "global_instruction": "Move the grey spatula from near the connect four grid to the left side of the table", "scene_description": "A light brown wooden table sits in front of a window with white blinds. On the table are a blue vertical connect four grid, a yellow curved toy, a thick colorful book, white napkins, a stapler, loose papers, a metal spoon, small round items including a red button, and a grey spatula near the connect four grid. A white robotic arm is raised at the upper right of the scene, away from the table.", "global_instruction_dense": "The right robotic arm moves downward toward the grey spatula near the blue connect four grid on the table, grasps the spatula, moves it left across the table to the area near the thick book, then releases the spatula onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 337, "tasks": ["place utensil"], "length": 361, "global_instruction": "Pick up the black spatula from the table and relocate it to another spot on the tabletop.", "scene_description": "A wooden table sits near a window with blinds. On the table are a clear patterned plastic cup, a container of small white parts, a yellow drawstring pouch, white napkins, a black spatula, small black and red circular objects, a blue plastic stand, a dark rectangular device, and a white robotic arm to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the black spatula on the wooden table, grasps it with its gripper, lifts and moves it to a new position above the table, lowers and releases the spatula onto the table, then moves away from the placed object.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 338, "tasks": ["place utensil"], "length": 474, "global_instruction": "Move the black spatula from its initial position to a new position on the wooden table", "scene_description": "A light brown wooden table sits next to a window with horizontal blinds. On the table, there is a white polka-dot cup, a tray of small white items, folded gray cloths, a blue pegboard, crumpled white papers, a metal stapler, a black spatula, and small loose items. A white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the black spatula on the left section of the table, grasps it with its gripper, lifts it, moves it across the table, lowers it, and releases it onto a new spot on the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 339, "tasks": ["place utensil"], "length": 204, "global_instruction": "Pick a metal utensil from the dish rack area and place it on the countertop next to the existing metal spoons.", "scene_description": "A large light brown wooden bowl, an aluminum foil tray, a clear pump hand sanitizer bottle, two metal spoons, and a silver dish rack holding a striped cloth are arranged on a light wooden kitchen countertop. A TV, whiteboard, and a person in a dark puffer vest are visible in the background, with the robotic arm initially out of frame.", "global_instruction_dense": "The right robotic arm moves downward from above the countertop to the dish rack area, grasps a metal utensil, lifts it, moves it over the countertop near the existing spoons, releases the utensil onto the counter, then lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 340, "tasks": ["place utensil"], "length": 439, "global_instruction": "Pick a metal utensil from the stainless steel dish rack and place it on the light wooden countertop.", "scene_description": "A light wooden kitchen counter holds a brown wooden bowl, aluminum foil trays, a clear pump soap bottle, and a stainless steel dish rack; a black tote bag hangs on the wall in the background, no robotic arm is visible initially.", "global_instruction_dense": "The right robotic arm enters the frame from the top right, moves toward the stainless steel dish rack, grasps a metal utensil from the rack, lifts it, moves it down to the light wooden countertop, releases the utensil next to an existing spoon on the counter, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 341, "tasks": ["place utensil"], "length": 258, "global_instruction": "Place a metal utensil from the dish rack onto the wooden countertop.", "scene_description": "A light wooden kitchen counter holds a large brown wooden bowl, aluminum foil baking tray, clear pump soap bottle, several spread metal utensils, and a metal dish rack at the back, with a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm reaches into the metal dish rack at the back of the counter, grasps a metal utensil, moves it over the middle of the counter, releases it onto the counter with the other utensils, then lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 342, "tasks": ["place utensil"], "length": 193, "global_instruction": "Pick a silver utensil from the dish rack and place it back into the dish rack.", "scene_description": "A light brown wooden bowl, a silver foil tray, a clear pump-style soap bottle, and a grey-and-silver dish rack holding silver cutlery are arranged on a light wood kitchen countertop, with a robotic arm positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the grey-and-silver dish rack on the kitchen countertop, grasps a silver utensil inside the rack, lifts it upward, adjusts its position above the rack, then lowers and places the utensil back into the dish rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 343, "tasks": ["place utensil"], "length": 299, "global_instruction": "Place a metal utensil into the gray rear compartment of the dish rack.", "scene_description": "On a light wooden kitchen counter, a wooden bowl, two aluminum foil trays, and a clear pump soap bottle sit on the left, a metal dish rack with a gray base is centered, and a white robotic arm is positioned at the upper right, with a black handbag hanging on the background wall.", "global_instruction_dense": "The right robotic arm moves downward to grasp a metal utensil, lifts it, moves it over the gray rear compartment of the countertop dish rack, lowers the utensil into the compartment, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 344, "tasks": ["place utensil"], "length": 352, "global_instruction": "Place the red spatula into the gray utensil holder of the dish rack on the kitchen counter.", "scene_description": "A light wooden kitchen counter holds a clear hand soap bottle with a white pump, a metal dish rack with a gray utensil holder, aluminum foil trays, and a wooden bowl on the left darker counter edge. A robotic arm is positioned at the top right of the frame.", "global_instruction_dense": "The right robotic gripper grasps a red spatula, moves it over the gray utensil holder in the metal dish rack, lowers the spatula into the holder, releases it, then retracts away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 345, "tasks": ["place utensil"], "length": 334, "global_instruction": "Place the metal utensil from the counter behind the dish rack into the dish rack's left utensil slot.", "scene_description": "A light wooden kitchen counter holds a clear TopCare hand sanitizer bottle on the left, a foil tray, a wooden bowl behind the tray, a metal dish rack in the center with a fork in its left utensil slot, and a white robotic arm on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves downward to grasp the metal utensil on the counter behind the dish rack, lifts the utensil, moves it to the left utensil compartment of the dish rack, lowers it into the slot, releases it, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 346, "tasks": ["place utensil"], "length": 344, "global_instruction": "Place flat metal utensils into the slots of the metallic dish rack on the table.", "scene_description": "A light wooden table has a metallic dish rack at its center, a clear pump hand sanitizer bottle on its left edge, an aluminum foil tray, and a brown wooden bowl behind the tray, with a right robotic arm positioned in the upper right area.", "global_instruction_dense": "The right robotic arm reaches behind the dish rack to grasp a flat metal utensil, moves it over the dish rack, lowers and releases it into an empty slot, repeats the sequence to place a second flat metal utensil into another dish rack slot, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 347, "tasks": ["place utensil"], "length": 526, "global_instruction": "Move utensils from the lower grid of the dish rack to the upper storage section of the dish rack.", "scene_description": "A metal dish rack holding multiple utensils sits on a light wooden table. A clear pump-style hand sanitizer bottle rests on the left edge of the table, with a wooden bowl and foil tray positioned behind it. A robotic arm is located at the right side of the frame, with a whiteboard, television, and closed door visible in the background.", "global_instruction_dense": "The right robotic arm moves to the lower grid of the dish rack, grasps a metal fork, lifts and transfers it to the upper storage section of the dish rack to place it, then returns to the lower grid, grasps a metal spoon, lifts and transfers it to the upper storage section to place it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 348, "tasks": ["place utensil"], "length": 720, "global_instruction": "Pick flat metal utensils from the dish rack and place them into the rear storage tray behind the rack.", "scene_description": "A metal dish rack with grey dividers sits on a light wooden table. To the left of the rack, a dark wooden counter holds a clear pump hand sanitizer bottle, a round wooden bowl, and a foil-covered tray. A television on a white stand is in the left background, a black bag hangs on the right wall, and a whiteboard is mounted on the wall behind the counter.", "global_instruction_dense": "The right robotic arm moves toward the metal dish rack on the light wooden table, grasps a flat metal utensil from the rack, lifts it, moves it to the flat storage tray positioned behind the rack, releases the utensil into the tray, then returns to the dish rack, grasps a flat metal utensil, moves it to the storage tray, and releases it into the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 349, "tasks": ["place utensil"], "length": 335, "global_instruction": "Place the pair of metal tongs into the empty slot of the dish rack.", "scene_description": "A clear plastic hand sanitizer bottle, brown wooden bowl, and aluminum foil tray rest on a raised brown wooden counter to the left. A silver metal dish rack with gray slots sits on a lower light-colored wooden worktable. A robotic arm is positioned at the upper right, with a black bag hanging on the wall in the background.", "global_instruction_dense": "The right robotic arm moves downward to grasp a pair of metal tongs, lifts the tongs, moves left over the work surface to position the tongs above an empty slot in the dish rack, then lowers the tongs into the slot and releases them.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 350, "tasks": ["place utensil"], "length": 433, "global_instruction": "Place a metal utensil from the dish rack onto the left wooden counter", "scene_description": "A light-colored wooden table holds a stainless steel dish rack containing stacked teal cups, a purple cup, a green cup, a blue plate, and a metal utensil. To the left of the table is a darker wooden counter with a clear hand sanitizer bottle, an aluminum foil tray, and a wooden bowl. A white robotic arm is positioned on the right side of the scene, with a TV, closed door, and hanging black bag in the background.", "global_instruction_dense": "The left robotic arm moves toward the dish rack on the light wooden table, grasps a metal utensil inside the rack, lifts it, moves it leftward over the darker wooden counter, and lowers it toward the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 351, "tasks": ["place utensil"], "length": 366, "global_instruction": "Pick up the orange plastic scoop and place it into the metal dish rack's utensil compartment.", "scene_description": "A light wood table has a clear hand sanitizer bottle, wooden bowl, and foil tray on its raised left section, a small orange plastic scoop on the main tabletop left of a metal dish rack holding colorful cups and utensils, with a black bag and grey oven mitt hanging on the background wall.", "global_instruction_dense": "The left robotic arm moves downward toward the orange plastic scoop on the table, grasps it, lifts it, moves it over the dish rack's left utensil slot, lowers the scoop, and releases it into the slot.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 352, "tasks": ["place utensil"], "length": 175, "global_instruction": "Pick the orange-handled utensil from the dish rack caddy and place it into the green cup in the dish rack.", "scene_description": "A light wooden kitchen counter holds a pink upside-down cup at front left, a clear pump bottle at front right, and a metal dish rack behind them. The dish rack contains stacked teal cups, a green cup, and a utensil caddy holding an orange-handled utensil. A dark brown side counter to the left holds an aluminum foil tray and a wooden bowl, with a robotic arm positioned at the upper right.", "global_instruction_dense": "The left robotic arm moves down toward the utensil caddy in the dish rack, grasps the orange-handled utensil, lifts it, moves it over the green cup in the dish rack, lowers it, and releases it into the green cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 353, "tasks": ["place utensil"], "length": 387, "global_instruction": "Place the metal spatula from the dish rack's utensil compartment into the dish rack's plate storage slots.", "scene_description": "A light wooden worktable holds a translucent green plastic cup and a metal dish drying rack with a metal spatula in its left utensil compartment. To the left of the worktable is a darker wooden counter holding a large wooden bowl and a rectangular aluminum foil tray, with a television visible in the far left background.", "global_instruction_dense": "The left robotic arm moves toward the metal spatula in the dish rack's left utensil compartment, grasps it, lifts it out of the compartment, moves it over the dish rack's plate slots, lowers it into an empty slot, releases the spatula, and lifts slightly upward away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 354, "tasks": ["place utensil"], "length": 573, "global_instruction": "Place cutlery pieces into the dish rack on the light wooden table.", "scene_description": "A dark gray dish rack is centered on a light wooden table, with a red spatula and green container to its left. Behind the table, a dark wooden counter holds a large wooden bowl and aluminum foil tray, with a TV visible in the background. A robotic arm is positioned at the right side of the scene.", "global_instruction_dense": "The right robotic arm reaches to the cutlery pile behind the dish rack, grasps a fork, moves it over the dish rack and releases it into the rack, then returns to the pile to grasp multiple pieces of cutlery, moves them over the dish rack and releases them into the rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 355, "tasks": ["place utensil"], "length": 444, "global_instruction": "Place the blue ladle from the front of the dish rack into the rear storage area behind the dish rack.", "scene_description": "A light wooden kitchen counter holds a metal dish rack with a blue ladle and other utensils, a clear pump soap bottle to the left of the rack, a wooden bowl and aluminum foil tray on a darker adjacent counter to the left, with a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves downward toward the dish rack, grasps the blue ladle from the front section of the rack, lifts it upward, moves it to the rear storage area behind the dish rack, lowers the ladle into the area, releases it, and moves upward away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 356, "tasks": ["place utensil"], "length": 509, "global_instruction": "Pick utensils from the rear compartment of the dish rack and place them onto the dish rack's front metal grid.", "scene_description": "A light wooden kitchen counter holds a metal dish rack with a gray base, clear pump bottle, red scraper, purple bottle, green bottle, and light blue cup. A dark wooden counter in the background holds a wooden bowl and aluminum foil tray, with a TV and whiteboard on the wall, and a robotic arm on the right side.", "global_instruction_dense": "The right robotic arm moves to the rear compartment of the dish rack to grasp a blue ladle, moves the ladle over the front metal grid and releases it onto the grid, then moves back to grasp a silver utensil from the rear compartment and lifts the utensil up.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 357, "tasks": ["place utensil"], "length": 213, "global_instruction": "Place the metal utensil into an empty slot in the dish rack", "scene_description": "A light wooden table holds a metal dish rack with a blue funnel, purple cup and small items inside, a clear pump soap bottle next to the rack. A darker wooden counter to the left has a wooden bowl and aluminum foil tray, and a robotic arm is positioned on the upper right, with a black bag and gray cloth hanging on the background wall.", "global_instruction_dense": "The right robotic arm moves down toward the metal utensil at the dish rack edge, grasps it, lifts it, moves it over an empty slot in the dish rack, lowers the utensil into the slot and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 358, "tasks": ["place utensil"], "length": 515, "global_instruction": "Place utensils from the metal dish rack into the large wooden bowl on the adjacent counter.", "scene_description": "A light wooden worktable holds a metal dish rack with utensils and a clear pump soap bottle; an adjacent darker wooden counter has an aluminum foil tray and a large wooden bowl, with a door and hook-mounted bags in the background.", "global_instruction_dense": "The right robotic arm moves to the dish rack, successively grasps an orange utensil, a silver spoon, and another silver utensil from the rack, carries each to the large wooden bowl, and drops each utensil into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 359, "tasks": ["place utensil"], "length": 190, "global_instruction": "Pick the blue ladle from the dish rack and place it in the left open section of the dish rack", "scene_description": "A light wooden worktop holds a metal dish rack with a blue ladle, green cylindrical cup, purple cup, purple packaged item, and small kitchen objects. A transparent soap pump is to the left of the rack, a wooden bowl and aluminum foil tray rest on a darker left counter, and a right robotic gripper is at the top right of the scene.", "global_instruction_dense": "The right robotic gripper moves down toward the blue ladle in the metal dish rack, grasps the ladle, lifts it, moves it left over the open left section of the dish rack, lowers it, and releases it into the section.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 360, "tasks": ["place utensil"], "length": 175, "global_instruction": "Place the blue ladle behind the dish rack into the dish rack", "scene_description": "A metal dish rack is on a light wooden table, with a purple packet and purple cup inside it, stacked green cups to its right, and a clear pump bottle to its left. A wooden bowl and aluminum foil tray sit on a darker wooden surface to the left of the table, a robotic arm is at the top right, and a wall with a hanging black bag and a door are in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the blue ladle behind the dish rack, grasps it, lifts it, moves it left over the dish rack, lowers it, and releases it into the left section of the dish rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 361, "tasks": ["place utensil"], "length": 483, "global_instruction": "Place utensils from the dish rack onto the dark wooden table next to the wooden bowl.", "scene_description": "A light wooden kitchen counter holds a stainless steel dish rack with utensils and colorful cups, a wooden bowl on stacked papers left of the rack, a clear pump soap bottle in the foreground left, a dark wooden table with an aluminum foil tray to the far left, and a white refrigerator with hanging bags in the background right.", "global_instruction_dense": "The right robotic arm descends to the dish rack, grasps a fork, moves it left to the dark wooden table next to the wooden bowl and releases it, then returns to the dish rack, grasps a spoon, moves it left to the same table and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 362, "tasks": ["place utensil"], "length": 519, "global_instruction": "Place the metal utensils on the countertop into the clear dish rack.", "scene_description": "A light grey kitchen countertop holds an aluminum foil baking tray on the far left, a clear spray bottle with a white pump, a light blue measuring cup, a small black rectangular object, a stainless steel basin with a clear plastic dish rack (holding utensils) at the center, a wooden bowl behind the dish rack, and small items including a blue-and-white cylindrical object, dark round objects, and a purple cup near the dish rack, with a robotic arm positioned at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves down to grasp metal utensils from the countertop behind the clear dish rack, lifts each utensil, moves it over the dish rack, places it into the rack for two separate utensils, then moves back upward to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 363, "tasks": ["place utensil"], "length": 339, "global_instruction": "Place the utensil from the pink cup into the dish rack on the table.", "scene_description": "A light wooden worktable holds a clear pump bottle, a light blue measuring scoop on a black base, a silver dish rack with utensils, and a pink cup at its far end. A higher dark wood counter to the table's left holds a foil baking tray, a blue ladle, and a wooden bowl. A right robotic arm is positioned on the right side of the frame, with a yellow door, wall-mounted bags, and a monitor in the background.", "global_instruction_dense": "The right robotic arm moves toward the pink cup at the far end of the worktable, grasps the utensil inside the cup, lifts it, moves it over the silver dish rack, lowers the utensil, releases it into the rack, and then moves upward away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 364, "tasks": ["place utensil"], "length": 700, "global_instruction": "Remove utensils from the dish rack and place them on the adjacent counter behind the rack.", "scene_description": "A light wood kitchen workbench holds a clear pump bottle, light blue measuring scoop, and black plastic stand. Behind the bench is a metal dish rack filled with utensils, with a pink measuring cup positioned to the right of the rack. An upper wooden counter holds a large aluminum foil tray, blue ladle, and wooden bowl. A white and black robotic arm is at the right side of the scene, with a yellow door and kitchen items hung on the wall in the background.", "global_instruction_dense": "The right robotic arm sequentially grasps utensils (starting with a pink measuring spoon) from the dish rack, lifts each utensil, moves it to the counter area behind the dish rack, places it down, and finally moves upward away from the work surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 365, "tasks": ["place utensil"], "length": 666, "global_instruction": "Place the green spatula and yellow plate into the silver dish drying rack on the tabletop.", "scene_description": "A light wooden tabletop holds a clear pump soap bottle, light blue measuring scoop, and silver dish drying rack with utensils; the far end of the table has a green spatula, yellow flat plate, and small pink cup, a higher wooden ledge above the left table holds an aluminum foil baking tray, blue ladle, and wooden bowl, and a right robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves to the green spatula at the far end of the table, grasps it, carries it to the silver dish drying rack and places it inside, then moves to the yellow plate, grasps it, carries it to the dish drying rack, positions it, and releases it into the rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 366, "tasks": ["place utensil"], "length": 606, "global_instruction": "Place the magenta measuring cup and red spatula into the stainless steel dish rack.", "scene_description": "A light wooden tabletop holds a clear pump bottle, a small light blue measuring scoop, a larger light blue bowl, and a stainless steel dish rack with a green plate and metal spoon inside. A magenta measuring cup and red spatula rest on the table behind the dish rack, with a right robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves to grasp the magenta measuring cup behind the dish rack, lifts and places it into the dish rack, then moves to grasp the red spatula, lifts and places it into the dish rack before moving away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 367, "tasks": ["place utensil"], "length": 561, "global_instruction": "Place various kitchen utensils into their appropriate storage containers.", "scene_description": "A light wooden worktable holds a clear pump bottle, a light blue measuring scoop, and a dish drying rack on a silver base. A higher wooden counter to the left has a foil baking tray, a blue ladle, and a large wooden bowl. A left robotic arm is positioned behind the left counter, a right robotic arm is on the right side of the scene, and a small blue bowl with a purple utensil rests on the floor near the back.", "global_instruction_dense": "The left robotic arm grasps wooden kitchen utensils and places them into the large wooden bowl on the left counter, while the right robotic arm grasps small utensils from the small blue floor bowl, places one into the dish drying rack, and places another back into the small blue bowl before both arms retract.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 368, "tasks": ["place utensil"], "length": 1093, "global_instruction": "Pick up utensils from the stacked plates and place them into the dish drying rack and nearby pink cup.", "scene_description": "A light wood kitchen counter holds a clear pump bottle, a light blue measuring scoop on a black base, and a silver dish drying rack. A higher dark wooden surface behind it has an aluminum foil tray, a blue long-handled tool, a wooden bowl, and a patterned cup. To the right of the dish rack are stacked yellow and blue plates with utensils and a pink cup, and two white-and-black robotic arms are positioned above the counter.", "global_instruction_dense": "The right robotic arm repeatedly reaches toward the stacked yellow and blue plates, grasps individual utensils, transports them to either the dish drying rack or the pink cup next to the plates, and places each utensil in the target receptacle, while the left robotic arm moves slightly in the background.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 369, "tasks": ["place utensil"], "length": 783, "global_instruction": "Place the blue spoon, pink spatula, and yellow spoon into the dish drying rack on the wooden table.", "scene_description": "A light wooden table holds a metallic dish drying rack with a metal grid, a clear pump soap bottle, a light blue measuring scoop attached to a black holder, a small blue bowl, and a yellow lid on the right side of the rack. The right robotic arm is positioned above the right of the table, the left robotic arm is at the upper left of the scene, with a wooden bowl, aluminum foil tray, and hanging black bag in the background.", "global_instruction_dense": "The right robotic arm sequentially grasps a blue spoon, a pink spatula, and a yellow spoon from the right side of the wooden table, moves each utensil over the dish drying rack, lowers and releases them into the rack, then retracts upward after placing all utensils.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 370, "tasks": ["place utensil"], "length": 312, "global_instruction": "Pick the blue utensil from the dish rack and place it into the dark gray tray behind the rack.", "scene_description": "A light wooden worktable holds a clear pump bottle, a blue measuring scoop on a black mount, a metal dish rack with assorted utensils, and a small blue bowl behind the rack. A wooden bowl and aluminum foil tray sit on a higher left shelf, with a right robotic arm above the table and a left robotic arm in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the dish rack on the wooden table, grasps the blue utensil inside the rack, lifts the utensil, moves it over the dark gray tray behind the rack, releases the utensil into the tray, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 371, "tasks": ["place utensil"], "length": 455, "global_instruction": "Pick up the black stick on the table and place it near the McDonald's delivery bag on the left of the table.", "scene_description": "A light brown wooden table holds a brown McDonald's delivery bag, white napkins, red, yellow and black circular discs, a gray stapler, white earphone cables, a standing black long stick, and a small round metal object. A Franka robotic arm is positioned to the right of the table, with a window with white blinds on the left and a yellow-black safety barrier in the background.", "global_instruction_dense": "The right robotic arm moves down from its initial position, grasps the black stick standing on the middle of the table, lifts the stick, moves it left toward the McDonald's delivery bag, lowers the stick to place it on the table near the bag, releases the stick, then moves back to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 372, "tasks": ["place utensil"], "length": 345, "global_instruction": "Move the black cable out of the white colander, then place the black spatula into the colander.", "scene_description": "A wooden table near a window with blinds holds a white colander with a black cable inside, a small fairy tale book, a white cloth, papers, a black phone, and two metal spoons to the right of the colander, with a robotic arm in the background.", "global_instruction_dense": "The right robotic arm first grasps the black cable inside the white colander, lifts it, moves and releases it on the table next to the colander, then grasps the black spatula, moves it over the colander, lowers and releases it into the colander.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 373, "tasks": ["place utensil"], "length": 422, "global_instruction": "Place the black spatula, yellow spatula, and white napkin into the white colander on the table.", "scene_description": "A wooden table next to a window with blinds holds a white colander with a black silicone spatula on it, a small fairy tale book, a white glove, a white napkin, a yellow spatula, a metal spoon, a small brown item, and a black remote. A robotic arm is positioned off the right edge of the table.", "global_instruction_dense": "The right robotic arm moves from the right side of the table, grasps a black spatula and places it into the white colander, then grasps the yellow spatula and places it into the colander, then grasps the white napkin and places it into the colander.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 374, "tasks": ["place utensil"], "length": 426, "global_instruction": "Place all loose utensils on the wooden table into the white plastic basket", "scene_description": "A wooden table next to a window with horizontal blinds holds a white plastic basket (containing utensils including a black spatula and yellow item), a book with a mermaid illustration, a white cloth, and three loose utensils on the table surface to the right of the basket; a white robotic arm is positioned above the table on the right.", "global_instruction_dense": "The right robotic arm sequentially grasps each loose utensil from the right side of the wooden table, lifts each utensil, moves it over the white plastic basket, and releases it into the basket to store all loose utensils.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 375, "tasks": ["place utensil"], "length": 215, "global_instruction": "Take a dark utensil from the light gray basket and place it on the table next to the black cables.", "scene_description": "A light gray plastic basket holding utensils sits on a wooden table near window blinds, alongside black coiled cables, a yellow cloth, white cloth, crumpled gray cloth, and a printed package, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the light gray basket on the wooden table, grasps a dark utensil from inside the basket, lifts it, moves it rightward over the black cables, lowers and releases it onto the table, then moves back toward the basket.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 376, "tasks": ["place utensil"], "length": 325, "global_instruction": "Take items from the gray plastic basket and place them on the table next to the basket.", "scene_description": "A light brown wooden table near a window with horizontal blinds holds a light gray plastic basket (containing a dark spatula, silver spoon, and other small items) on its left section, alongside a crumpled silver bag, white cloth, black coiled cables, and a yellow cloth on the table surface.", "global_instruction_dense": "The right robotic arm moves down toward the gray basket on the table, grasps a small dark item from inside the basket, moves it rightward and places it on the table next to the basket, then returns to the basket, grasps the dark spatula inside, moves it rightward and places it on the adjacent table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 377, "tasks": ["place utensil"], "length": 309, "global_instruction": "Place utensils from the dish rack next to the sink into the sink", "scene_description": "A white kitchen sink with a chrome faucet sits below a window with white horizontal blinds. A metal dish rack holding utensils is on the counter to the right of the sink, and a robotic arm is positioned above the counter near the right edge of the frame.", "global_instruction_dense": "The right robotic arm grasps a purple utensil from the dish rack, moves it over the sink and releases it into the sink, then grasps a light blue utensil from the dish rack, moves it over the sink and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 378, "tasks": ["place utensil"], "length": 307, "global_instruction": "Pick up utensils from the sink and place them into the adjacent dish rack.", "scene_description": "A white kitchen sink sits under a window with closed white blinds, a silver faucet is mounted on the tile wall above the sink, an orange pump bottle, a white pump bottle, and a metal dish rack are placed on the light yellow sink ledge, and a robotic arm is positioned above the right side of the sink.", "global_instruction_dense": "The right robotic arm moves down into the sink, grasps multiple utensils, lifts them, moves over the nearby dish rack, and releases the utensils into the dish rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 379, "tasks": ["place utensil"], "length": 457, "global_instruction": "Pick up the light blue scoop on the table, move it over the white colander, then place it back on the table.", "scene_description": "A white perforated colander sits at the front of a light wooden table. A white cloth, white mug, and small objects are on the table to the left of the colander, while a light blue scoop and silver fork are to the right, with a window and a door with black-yellow warning tape in the background.", "global_instruction_dense": "The right robotic arm moves toward the light blue scoop on the right side of the wooden table, grasps the scoop, lifts it, moves and adjusts its position over the white colander, then lowers the scoop back to the table, releases it, and lifts away from the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 380, "tasks": ["place utensil"], "length": 563, "global_instruction": "Place the green cup and yellow toothbrush from the dish rack into the bathtub.", "scene_description": "A white bathtub holds a purple cup and a blue toothbrush. A silver faucet is mounted on the light tiled wall above the tub, a dish rack with various items sits on the tub edge to the right of the faucet, and a robotic arm is positioned in the upper right of the scene.", "global_instruction_dense": "The right robotic arm moves to the dish rack, grasps the green cup, places it in the bathtub next to the existing purple cup, then returns to the dish rack, grasps the yellow toothbrush, places it into the green cup in the bathtub, and moves away from the tub.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 381, "tasks": ["place utensil"], "length": 313, "global_instruction": "Pick up the black spatula on the wooden table, adjust its position, then place it back on the table.", "scene_description": "A wooden table holds a white slotted colander in the foreground, a white mug with a metal spoon to the colander's left, and a black spatula on the far side of the table. A window with closed blinds is in the background next to a door with a yellow-black safety bar in front of it, and a robotic arm is at the top right edge of the frame.", "global_instruction_dense": "The right robotic arm moves down from the upper right of the frame, grasps the black spatula on the far side of the wooden table, lifts and rotates the spatula repeatedly above the table surface, then places the spatula back onto the table and retracts slightly upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 382, "tasks": ["place utensil"], "length": 199, "global_instruction": "Take the black utensil from the patterned paper cup and place it on the wooden table.", "scene_description": "A wooden table holds a white mug with a spoon, a patterned paper cup with a black utensil inside, a peeled banana, and scattered letter tiles. A white chair sits behind the table, a window with blinds is to the left, and a black-and-yellow caution barrier is near a wooden door in the background.", "global_instruction_dense": "The right robotic arm moves toward the patterned paper cup on the table, lowers its gripper into the cup to grasp the black utensil, lifts the utensil out of the cup, moves it over the table surface, places it on the table, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 383, "tasks": ["place utensil"], "length": 161, "global_instruction": "Pick up the wooden spatula from the stovetop and place it on the right side of the stovetop.", "scene_description": "A kitchen with three wall-mounted metal spice racks holding various jars, hanging pans above the racks, a white stovetop below with a stainless steel bowl containing a purple bowl and a blue mat, a window with blinds to the right, a white curtain on the left, and a robotic arm on the far right of the frame.", "global_instruction_dense": "The right robotic arm moves left and down toward the wooden spatula on the white stovetop, grasps and lifts it, moves it rightward above the stovetop, then lowers and places it on the right side of the stovetop.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 384, "tasks": ["place utensil"], "length": 270, "global_instruction": "Reposition the wooden spatula to stand upright on the kitchen gas stove.", "scene_description": "A white gas stove is in the center of a kitchen, with a wooden spatula on its burner, a light blue cloth on its right side, wall-mounted metal spice racks filled with containers behind it, and hanging metal pots and pans above the racks. A white robotic arm with black accents is positioned on the right side of the frame above the stove.", "global_instruction_dense": "The right robotic gripper moves downward toward the wooden spatula on the gas stove, grasps the spatula handle, adjusts its position to stand upright on the stove burner, releases the spatula, and moves back upward away from the stove.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 385, "tasks": ["place utensil"], "length": 295, "global_instruction": "Place the blue long-handled ladle onto the left wooden table.", "scene_description": "A wooden table on the left holds a red Coca-Cola can, a black tumbler, and a plastic bag. A white trash bin with a green lid sits in the foreground, next to a small clear water bottle and a green-capped bottle. A white Franka robotic arm is positioned on the right side of the work surface, with a yellow door, wall-mounted papers, and a white refrigerator in the background.", "global_instruction_dense": "The right robotic arm grasps the blue long-handled ladle, lifts it upward, moves it left over the left wooden table, and lowers it to release and place the ladle on the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 386, "tasks": ["place utensil"], "length": 196, "global_instruction": "Take the black ladle from the open drawer and place it on the wooden table.", "scene_description": "A light wooden table holds various utensils including a black slotted spatula, metal pliers, and a white mug, with an open drawer under it containing kitchen tools like a black ladle and screwdriver, and a Franka robotic arm mounted on a worktable to the right.", "global_instruction_dense": "The left robotic arm moves down toward the open drawer, grasps the black ladle inside, lifts it out of the drawer, moves it over the adjacent wooden table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 387, "tasks": ["place utensil"], "length": 248, "global_instruction": "Place a green-handled utensil from the open drawer onto the left wooden table.", "scene_description": "A wooden table on the left holds black cooking spoons, a yellow-handled metal spoon, metal tongs, scissors, a white mug, a clear plastic bottle, a green-lidded trash bin with a white liner, and a small clear jar. An open drawer below the table contains cutlery and a yellow screwdriver. A white robotic arm is positioned on an aluminum frame platform to the right of the table.", "global_instruction_dense": "The left robotic arm moves into position above the open drawer, lowers into the drawer to grasp a green-handled utensil, lifts the utensil, moves it over the left wooden table, lowers and releases the utensil onto the table, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 388, "tasks": ["place utensil"], "length": 295, "global_instruction": "Pick a white kitchen utensil from the open drawer and place it on the left wooden table.", "scene_description": "A light wooden table on the left holds various kitchen utensils including black silicone spoons, metal tongs, and a yellow-handled spoon, with an open cutlery drawer below it. A white robotic arm setup is positioned on a table to the right of the drawer.", "global_instruction_dense": "The left robotic arm moves downward into the open cutlery drawer, grasps a white kitchen utensil, lifts it out of the drawer, moves it horizontally over the left wooden table, releases it onto the table, and retracts.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 389, "tasks": ["place utensil"], "length": 304, "global_instruction": "Place the black slotted spatula from the wooden table into the open cutlery drawer.", "scene_description": "A light wooden table holds various kitchen utensils including a black slotted spatula, black serving spoons, a yellow-handled metal spoon, tongs, and scissors. An open cutlery drawer filled with sorted forks, knives, and spoons sits under the table's right edge, next to a dual-arm Franka robotic system.", "global_instruction_dense": "The left robotic arm moves toward the black slotted spatula on the wooden table, grasps and lifts it, moves it over the open cutlery drawer, lowers and releases it into the drawer, then retracts its gripper.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 390, "tasks": ["place utensil"], "length": 255, "global_instruction": "Place the black silicone spatula from the wooden table into the open utensil drawer", "scene_description": "A light wooden table holds multiple kitchen utensils including a black silicone spatula with silver handle, yellow-handled metal spoon, and metal tongs. An open drawer under the table contains sorted cutlery, and a stationary white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves from out of frame toward the black silicone spatula on the wooden table, grasps it, lifts it, moves it over the open utensil drawer, lowers it into the drawer, releases it, and then lifts away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 391, "tasks": ["place utensil"], "length": 186, "global_instruction": "Take a gray spatula from the open drawer and place it on the wooden worktable", "scene_description": "A wooden worktable holds a blue checkered cloth, a yellow-handled spoon, and a yellow-black screwdriver. A white bucket with a green lid sits on the upper table, an open utensil drawer is below the table edge, and a white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the open utensil drawer, grasps a gray spatula from the drawer, lifts it upward, moves it over the wooden worktable, and releases it to place the spatula on the table surface next to the screwdriver.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 392, "tasks": ["place utensil"], "length": 339, "global_instruction": "Retrieve utensils from the open drawer and place them onto the wooden kitchen counter.", "scene_description": "A light wooden kitchen counter holds a blue checkered cloth, yellow-handled metal spoon, black-handled tool, gray spatula, yellow and black screwdriver, and red scissors. A white bucket with a green lid sits at the counter's rear, metal containers and a small blue ball rest on a raised shelf behind the counter, and a white robotic arm is positioned to the counter's right above an open drawer of utensils.", "global_instruction_dense": "The right robotic arm moves into the open utensil drawer, grasps a metal fork, lifts it, places it on the wooden counter, moves back to the drawer to grasp a green-handled utensil, lifts it, and places it on the rear of the wooden counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 393, "tasks": ["place utensil"], "length": 204, "global_instruction": "Place the black ladle from the utensil drawer onto the wooden kitchen countertop.", "scene_description": "A wooden kitchen countertop holds a blue checkered cloth, yellow-handled metal spoon, metal fork, grey spatula, yellow-black screwdriver, blue scissors, and small tools. A white bucket with green lid sits on the counter, with a stainless steel pot over a white colander on a higher rear shelf. A Franka robotic arm is positioned on the right next to an open utensil drawer, with a person in the left background.", "global_instruction_dense": "The right robotic arm moves downward into the open utensil drawer, grasps a black ladle, lifts it out of the drawer, moves it over the wooden countertop, and releases it onto the countertop surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 394, "tasks": ["place utensil"], "length": 180, "global_instruction": "Place a black long-handled ladle from the open utensil drawer onto the wooden countertop.", "scene_description": "A light wooden kitchen countertop holds a yellow-handled metal spoon, silver fork, black long-handled ladle, yellow-black screwdriver, blue checkered cloth, and a white bucket with a green lid. Metal steamer pots sit on a higher rear shelf, an open utensil drawer is below the counter, and a robotic arm is positioned at the right of the counter.", "global_instruction_dense": "The right robotic arm moves down into the open utensil drawer, grasps a black long-handled ladle, lifts it out of the drawer, moves it over the wooden countertop, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 395, "tasks": ["place utensil"], "length": 246, "global_instruction": "Pick a black slotted spatula from the lower utensil tray and place it on the wooden kitchen counter.", "scene_description": "A light wooden kitchen counter holds a blue checkered cloth, multiple black and metal cooking utensils, a yellow-handled metal spoon, small hand tools, a green-lidded white bucket, and stacked containers on a higher ledge; a robotic arm is at the upper right, with a utensil tray below the counter edge.", "global_instruction_dense": "The right robotic arm moves down to the lower utensil tray, grasps a black slotted spatula, lifts it, moves it over the kitchen counter, lowers it, and releases it to rest on the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 396, "tasks": ["place utensil"], "length": 216, "global_instruction": "Place a white-handled utensil from the open drawer onto the wooden kitchen counter.", "scene_description": "A wooden kitchen counter holds multiple black silicone cooking spoons with silver handles, a yellow-handled metal spoon, a blue checkered cloth, a green-lidded white bucket, and assorted small tools. An open drawer with utensils sits below the counter, and a robotic arm is positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves downward into the open drawer below the counter, grasps a white-handled utensil, lifts it out of the drawer, moves it over the wooden counter, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 397, "tasks": ["place utensil"], "length": 496, "global_instruction": "Place a long metal utensil from the lower drawer onto the kitchen counter", "scene_description": "A light wooden kitchen counter holds assorted kitchen utensils, small hand tools, a blue checkered cloth on the left, a green-lidded white plastic bucket at the back, and stacked metal bowls and a strainer on a raised ledge behind the counter. A white robotic arm is positioned to the right of the counter above an open utensil drawer.", "global_instruction_dense": "The left robotic gripper moves downward into the open drawer below the counter, grasps a long metal kitchen utensil, lifts it out of the drawer, moves it over the back section of the kitchen counter, lowers it, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 398, "tasks": ["place utensil"], "length": 331, "global_instruction": "Pick a metal utensil from the open under-counter drawer and place it on the upper wooden kitchen counter.", "scene_description": "A wooden kitchen counter holds multiple utensils (black spoons, a yellow handle spoon, forks, screwdrivers, scissors), a green-lidded white bucket, a white mug, and a blue cloth on the left, with an open drawer under the counter containing more metal utensils, and a white robotic arm positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves down toward the open drawer under the wooden kitchen counter, grasps a silver metal utensil with its gripper, lifts the utensil out of the drawer, moves upward and left toward the upper counter, lowers the utensil, and releases it onto the upper wooden kitchen counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 399, "tasks": ["place utensil"], "length": 243, "global_instruction": "Pick up a metal utensil from the wooden counter and place it onto the adjacent lower tool surface.", "scene_description": "A wooden kitchen counter holds assorted silverware, a blue checkered cloth, a white bucket with a green lid, and a white mug. A lower adjacent surface holds various hand tools, and a right robotic arm is positioned at the top right above the workspace.", "global_instruction_dense": "The right robotic arm moves left and down toward the wooden counter, grasps a small metal utensil from the counter, lifts it, moves it right to the lower adjacent tool holding surface, places the utensil onto the surface, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 400, "tasks": ["place utensil"], "length": 480, "global_instruction": "Place a gray utensil from the wooden worktop into the open utensil drawer below.", "scene_description": "A wooden kitchen worktop holds metal forks, silver spoons, black silicone cooking utensils, and a blue checkered cloth. A white bucket with a green lid sits on the worktop, an open utensil drawer filled with tools is below the worktop, and a white robotic arm is positioned at the right above the drawer.", "global_instruction_dense": "The right robotic arm first moves into the open drawer to adjust its position, then moves upward toward the wooden worktop, grasps a gray utensil from the worktop, lifts it, moves it over the open drawer, releases the utensil into the drawer, and returns to a resting position above the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 401, "tasks": ["place utensil"], "length": 125, "global_instruction": "Pick up the black slotted spatula from the kitchen countertop and place it into the open tool drawer below the counter.", "scene_description": "A light wooden kitchen countertop has a blue checkered cloth on its left side, a black slotted spatula, metal fork, and black ladle on its surface, a white bucket with a green lid and handle at the rear, a white mug, and stacked containers on a higher left shelf; an open tool-filled drawer sits below the counter, and a white robotic arm is positioned at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves leftward from the top right of the frame toward the black slotted spatula on the counter, grasps the spatula with its gripper, lifts it, moves it down over the open tool drawer below the counter, and releases the spatula into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 402, "tasks": ["place utensil"], "length": 453, "global_instruction": "Place the black soup ladle on the wooden table into the open utensil drawer below the table.", "scene_description": "A wooden tabletop holds a black soup ladle, silver metal fork, blue checkered cloth, and white bucket with a green lid, with an open utensil drawer sits below the table, and a Franka robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the black soup ladle on the wooden table, grasps the ladle, lifts it, moves it downward into the open utensil drawer below the table, releases the ladle into the drawer, and adjusts its position to properly store the ladle.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 403, "tasks": ["place utensil"], "length": 503, "global_instruction": "Retrieve the metal tongs from the under-counter drawer and place them on the wooden kitchen countertop.", "scene_description": "A light wooden kitchen counter holds a blue striped cloth and black-handled tool on the left, a white bucket with a green lid, a white mug, and small objects at the back. A right robotic arm is positioned to the right of the counter, with a closed drawer under the counter, and metal cookware sits on a higher shelf above the counter.", "global_instruction_dense": "The right robotic arm pulls open the under-counter drawer, reaches inside to grasp the metal tongs, lifts the tongs out of the drawer, moves them over the wooden countertop, lowers and releases the tongs onto the counter, then moves away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 404, "tasks": ["place utensil"], "length": 206, "global_instruction": "Place the black silicone spatula from the drawer onto the wooden tabletop.", "scene_description": "A wooden tabletop holds a blue checkered cloth, black tongs, a green-lidded white bucket, and a white mug. A right Franka robotic arm is positioned to the right of the table, above an open drawer containing green and striped fabric items. A raised ledge behind the table holds stacked metal and plastic containers, a small light blue ball, and small loose items.", "global_instruction_dense": "The right robotic arm moves down into the open drawer, grasps the black silicone spatula, lifts it up, moves it over the wooden tabletop, then releases it to rest on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 405, "tasks": ["place utensil"], "length": 263, "global_instruction": "Pick up the kitchen tongs from the drawer and place them onto the wooden kitchen counter.", "scene_description": "A light wooden kitchen counter holds a blue striped cloth, a gray spatula, two white buckets with green lids, a metal steamer pot on a white colander, a small light blue bowl, and a white mug. A robotic arm is positioned to the right of the counter, with an open under-counter drawer holding kitchen items.", "global_instruction_dense": "The right robotic gripper moves toward the kitchen tongs in the open under-counter drawer, grasps the tongs, lifts them, moves them over the light wooden kitchen counter, and releases them onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 406, "tasks": ["place utensil"], "length": 311, "global_instruction": "Retrieve a utensil from the under-counter drawer and place it on the wooden kitchen counter.", "scene_description": "A wooden kitchen counter holds a blue striped cloth, black spatula, black tongs, two knives on a cutting board, white mug, and green-white bucket. A metal strainer stacked on a white colander sits on a higher rear counter with a small blue ball on that counter. An open under-counter drawer holds a green cutting board, striped cloth, and small colorful items, with a robotic arm to the right of the counter.", "global_instruction_dense": "The right robotic arm lowers into the open under-counter drawer, grasps a black-handled utensil, lifts it out of the drawer, moves it upward over the counter surface, and releases the utensil onto the wooden counter next to other existing utensils.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 407, "tasks": ["place utensil"], "length": 306, "global_instruction": "Take a black-handled metal utensil from the open drawer and place it on the wooden countertop.", "scene_description": "A light wooden kitchen counter holds a blue checkered cloth, gray silicone spatula, metal grater, small metal cylinder, and white bucket with a green lid. An open drawer below the counter holds a green cutting board and striped cloths, with a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm reaches into the open lower drawer, grasps a black-handled metal utensil, lifts it out of the drawer, moves it over the countertop, and sets it down next to the other kitchen tools on the wooden surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 408, "tasks": ["place utensil"], "length": 391, "global_instruction": "Open the under-table drawer and place worktable kitchen utensils into the drawer.", "scene_description": "A light wooden worktable holds black-handled kitchen utensils, a blue textured cloth, and a white mug. A white bucket with a green lid sits on the table, with stacked metal and white colanders on a raised shelf behind it. A partially open under-table drawer contains green cutting boards and striped cloths, with a white robotic arm to the right of the table.", "global_instruction_dense": "The right robotic arm pulls the partially open under-table drawer fully open, then grasps kitchen utensils from the worktable and places them into the open drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 409, "tasks": ["place utensil"], "length": 190, "global_instruction": "Place a metallic kitchen utensil from the countertop into the open utensil drawer below.", "scene_description": "A light wooden kitchen countertop holds scattered kitchen utensils, a blue cloth on the left, a green-and-white bucket, a white mug, and stacked containers at the far end. An open drawer below the counter stores more utensils, with a white robotic arm on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves from its initial right position toward the countertop utensils, grasps a metallic utensil, lifts it, moves it over the open drawer below the counter, releases the utensil into the drawer, and moves slightly away after placement.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 410, "tasks": ["place utensil"], "length": 292, "global_instruction": "Pick up the black-handled metal tongs from the white box and hang them on the leftmost wall hook.", "scene_description": "A light yellow wall with metal hooks, a white hanger on a wooden hook, a white refrigerator adjacent to the wall, a white box under the hooks holding gray gloves, a blue cloth, and black-handled metal tongs, with a white robotic arm on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the black-handled tongs on the white box, grasps them, lifts and moves them toward the wall hooks, hangs them on the leftmost metal hook, then releases the tongs and moves away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 411, "tasks": ["place utensil"], "length": 336, "global_instruction": "Hang the black and gray tongs on the empty left adjacent hook on the wall.", "scene_description": "A light yellow wall with three metal hooks has black and gray tongs hanging on the rightmost hook, a white refrigerator stands to the right of the wall, a white table below the hooks holds a gray glove and folded blue cloth, and a robotic arm is positioned near the refrigerator.", "global_instruction_dense": "The right robotic arm moves toward the tongs on the right wall hook, grasps it, lifts it off the hook, moves it left to the empty adjacent hook, hangs the tongs on the new hook, then releases the tongs and moves away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 412, "tasks": ["place utensil"], "length": 170, "global_instruction": "Move the wooden spatula from the frying pan onto the empty stove surface between the pot and the pan.", "scene_description": "A white gas stove sits next to a light-colored refrigerator in a kitchen. A stainless steel pot is on the left stove burner, a black frying pan with a wooden spatula inside is on the right burner, and wall-mounted spice racks are behind the stove. A robotic arm is positioned above the stove, and a microphone stand is visible on the right.", "global_instruction_dense": "The right robotic arm moves downward and rightward toward the wooden spatula in the black frying pan, grasps the spatula, lifts it, moves leftward to the empty space between the stainless steel pot and frying pan on the stove, lowers the spatula, releases it onto the stove surface, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 413, "tasks": ["place utensil"], "length": 540, "global_instruction": "Hang the orange spatula onto the hook inside the open desk shelf", "scene_description": "A dark wooden desk with an open upper shelf is in view. On the shelf top lie a white disposable cup, a red small object, and black cables. On the lower shelf surface rest an orange flat spatula and a small brown paper packet. A white robotic arm is positioned to the right of the desk.", "global_instruction_dense": "The right robotic arm moves toward the orange spatula resting on the lower surface of the open wooden desk shelf, grasps the spatula, lifts it, positions it onto a hook inside the shelf, adjusts it to ensure it is securely hung, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 414, "tasks": ["place utensil"], "length": 212, "global_instruction": "Pick up the black-handled metal tongs from the table and place them next to the other utensils.", "scene_description": "A light wooden kitchen table holds a green and white bucket, white mug, metal spatula, black-handled metal tongs, small utensils, and a black sponge on a green and white cloth, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves its gripper down to the black-handled metal tongs on the wooden table, grasps them, lifts them, moves them left toward the other utensils, places them on the table, releases the tongs, and lifts its gripper upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 415, "tasks": ["place utensil"], "length": 301, "global_instruction": "Place the metal utensil from the dark brown bar into the white mug on the bar.", "scene_description": "A kitchen area has a raised dark brown bar counter holding a clear pump hand sanitizer bottle, a metal pot in a white steamer basket on an aluminum tray, and a white mug. The lower light wood work surface below has kitchen utensils (black spatula, tongs, small blue measuring scoop), a green-and-white striped cloth with a black square, a second white mug, a clear water bottle, and loose papers, with a white robotic arm on the right edge of the scene.", "global_instruction_dense": "The right robotic arm lowers toward the dark brown bar counter, grasps the metal utensil resting near the hand sanitizer, lifts the utensil, moves it over the adjacent white mug on the bar, and releases the utensil to drop it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 416, "tasks": ["place utensil"], "length": 243, "global_instruction": "Take a metal utensil from the open drawer and place it on the wooden worktable.", "scene_description": "A light wooden worktable holds a green-and-white striped towel, a black cloth, a knife, and a spray bottle. An open drawer below the table is filled with assorted utensils. A counter behind the table has stacked metal containers, a foil tray, and white mugs, with a white robotic arm positioned to the right above the drawer.", "global_instruction_dense": "The right robotic arm lowers into the open utensil drawer, grasps a metal utensil, lifts it out of the drawer, moves it over the wooden worktable, and places the utensil onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 417, "tasks": ["place utensil"], "length": 307, "global_instruction": "Place the metal utensils from the wooden table into the open drawer beneath the table.", "scene_description": "A light wooden kitchen table holds metal utensils, a clear spray bottle, white mugs, a green-and-white striped cloth, and small black objects; an open utensil drawer sits beneath the table, with a white robotic arm positioned to the table's right.", "global_instruction_dense": "The right robotic arm moves from its starting position toward the utensils on the wooden table, grasps a metal utensil, moves it over the open drawer below the table, releases the utensil into the drawer, then moves back toward the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 418, "tasks": ["place utensil"], "length": 265, "global_instruction": "Take a metal utensil from the open drawer and place it on the wooden tabletop.", "scene_description": "A wooden work table is in the center, with an open drawer underneath holding various metal utensils, the tabletop has a striped cloth, clear spray bottle, white mugs, and small tools, and a right robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves down toward the open drawer, grasps a metal utensil inside the drawer, lifts it upward, moves it over the wooden tabletop, and places it onto the table near other utensils.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 419, "tasks": ["place utensil"], "length": 204, "global_instruction": "Pick a metal utensil from the worktable and place it into the open lower drawer.", "scene_description": "A wooden worktable with an open lower drawer filled with assorted tools is shown; the tabletop holds metal utensils, a clear pump bottle, small blue and black objects, white mugs, and a green-white striped cloth, with a right robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the metal utensils on the worktable, grasps one metal utensil with its gripper, lifts it, moves it down toward the open drawer under the table, and releases the utensil into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 420, "tasks": ["place utensil"], "length": 258, "global_instruction": "Place the metal utensils from the wooden table into the open drawer below the table.", "scene_description": "A light wooden table holds metal utensils, a green-and-white striped cloth, a clear spray bottle, and small black and blue items, with an open drawer below the table filled with more utensils and tools. A white robotic arm with black and orange accents is positioned on the right side of the view, with a background counter holding metal pots, a white container and mugs, and a dark brown door with an arched window in the far background.", "global_instruction_dense": "The right robotic arm moves toward the metal utensils on the wooden table, grasps a metal utensil, lifts it, moves it over the open drawer, releases it into the drawer, then moves back to the table to grasp a metal utensil and move it toward the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 421, "tasks": ["place utensil"], "length": 271, "global_instruction": "Place the metal utensil on the wooden kitchen table near the green-and-white striped cloth.", "scene_description": "A light brown wooden kitchen table holds a white ceramic cup, a white pump spray bottle, a yellow screwdriver, assorted small tools, and a green-and-white striped cloth; an open drawer under the table contains various tools, and the right robotic arm is positioned above the table near the white cup.", "global_instruction_dense": "The right robotic arm lowers toward the metal utensil on the wooden table, grasps it with its gripper, adjusts its orientation while moving it across the table, and releases it in a new position near the green-and-white striped cloth.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 422, "tasks": ["place utensil"], "length": 492, "global_instruction": "Place the metal spoon and metal fork from the counter into the white plastic colander.", "scene_description": "A light wooden kitchen counter holds a white plastic colander at its center, a metal spoon and metal fork on the counter in front of the colander, a large metal bowl with a plastic water bottle to the left, an aluminum foil tray on a side table in the background, and a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The left robotic arm moves toward the metal spoon on the counter, grasps it, lifts and places it into the white colander, then moves toward the metal fork, grasps it, lifts and places it into the white colander.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 423, "tasks": ["place utensil"], "length": 238, "global_instruction": "Pick up the light blue plastic scoop and place it into the white plastic colander", "scene_description": "A light wooden table holds a white plastic colander and a stainless steel bowl filled with green-and-white striped cloths. A dark side table to the left holds a clear pump hand sanitizer bottle and a light blue plastic scoop, with a robotic arm mounted on the right of the main table.", "global_instruction_dense": "The right robotic arm moves left from above the white colander to the side table, grasps the light blue plastic scoop, lifts it, moves right back over the white colander, and releases the scoop into the colander.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 424, "tasks": ["place utensil"], "length": 548, "global_instruction": "Pick up the blue ladle from the colander and place it on the left wooden side table.", "scene_description": "A wooden work table holds a stainless steel bowl and a white plastic colander containing a blue ladle. To the left of the work table is a wooden side table with a white mug, clear hand sanitizer bottle, small water bottle, black case, and aluminum foil tray. A white robotic arm with orange bands is positioned to the right of the work table.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the blue ladle inside the white colander on the work table, lifts the ladle, moves it leftward over the wooden side table, lowers it, and releases it onto the side table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 425, "tasks": ["place utensil"], "length": 284, "global_instruction": "Place the light blue scooper from the white colander onto the left wooden counter.", "scene_description": "A white colander holding a black object and a light blue scooper sits on a light wooden table, with a stainless steel bowl in front of the colander. To the left of the table is a dark wooden counter holding a white mug, a clear pump bottle, a small plastic bottle, and a large blue spoon. A robotic arm is positioned to the right of the table, with its gripper above the white colander.", "global_instruction_dense": "The right robotic arm first grasps and removes the black object from the white colander on the wooden table, then lowers its gripper to grasp the light blue scooper inside the colander, lifts the scooper, moves it left over the dark wooden counter, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 426, "tasks": ["place utensil"], "length": 259, "global_instruction": "Pick a utensil from the white colander and place it into the white mug on the left counter.", "scene_description": "A light wooden table holds a silver metal bowl at the front, a white plastic colander behind it, and a small bowl of utensils behind the colander. A raised wooden counter to the left has a white mug, a clear pump hand sanitizer bottle, and small blue items. A white robotic arm with orange bands is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the white plastic colander on the table, grasps a metal utensil inside the colander, lifts the utensil, moves left toward the white mug on the raised counter, lowers the utensil into the mug, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 427, "tasks": ["place utensil"], "length": 376, "global_instruction": "Transfer utensils from the rear stainless steel bowl to the front stainless steel bowl on the table.", "scene_description": "A light wooden table holds a front silver stainless steel bowl, a middle white plastic colander, and a rear silver stainless steel bowl. To the table's left is a wooden counter with a white mug, pump bottle, small blue bowl, blue scoop, and aluminum baking tray. A white robotic arm with orange bands is positioned to the table's right.", "global_instruction_dense": "The left robotic arm moves to the rear stainless steel bowl, grasps a black utensil and places it into the white colander, then grasps silver utensils from the rear bowl and places them into the colander, then transfers the silver utensils from the colander into the front stainless steel bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 428, "tasks": ["place utensil"], "length": 184, "global_instruction": "Pick up a utensil from the white ceramic mug and place it into the stainless steel bowl on the worktable.", "scene_description": "A light wooden worktable holds a stainless steel bowl with silver utensils inside, a white plastic colander, and a gray quilted heat pad. A darker wooden counter to the left of the table holds a white ceramic mug with a metal utensil inside, small blue dishes, and an aluminum foil tray. A white robotic arm is positioned at the right side of the worktable.", "global_instruction_dense": "The left robotic arm moves left toward the white ceramic mug on the side counter, grasps the yellow-handled utensil inside the mug, lifts the utensil out of the mug, moves right over the stainless steel bowl on the worktable, and releases the utensil into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 429, "tasks": ["place utensil"], "length": 221, "global_instruction": "Place the blue ladle from the left counter into the stainless steel bowl on the work table.", "scene_description": "A light wooden work table holds a silver stainless steel bowl, a white plastic colander, a small black ring, and a light green cup. A darker wooden counter to the left of the table holds a white mug with metal utensils, a blue ladle, a light blue small scoop, a brown paper bag, and an aluminum foil tray. A white robotic arm with orange accents is positioned on the right side of the table.", "global_instruction_dense": "The left robotic arm moves left toward the blue ladle resting on the dark wooden counter, grasps the ladle, lifts it, moves it rightward over the silver stainless steel bowl on the light wooden table, lowers the ladle into the bowl, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 430, "tasks": ["place utensil"], "length": 285, "global_instruction": "Retrieve a blue stick from the white plastic bag and place it into the transparent storage bin.", "scene_description": "A transparent plastic storage bin rests on a white-sheeted bed; the bin contains a white plastic shopping bag, assorted packaged items, and a white paper slip, with a robotic arm at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves from the upper right toward the white plastic bag in the storage bin, grasps a blue stick inside the bag, lifts it out, moves it over the right side of the bin, lowers it, and releases it into the storage bin.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 431, "tasks": ["place utensil"], "length": 176, "global_instruction": "Place the black spatula from the metal bowl onto the wooden table near the water bottle", "scene_description": "A wooden tabletop holds a silver aluminum tray with packaged food on the left, a cyan scoop on a black base, a clear plastic water bottle, gray metal bowls, a yellow banana, two white mugs, a small black battery, and a white left robotic arm is positioned above the right side of the table near a metal bowl; a TV on a white stand and whiteboard are in the background.", "global_instruction_dense": "The left robotic arm lowers toward the metal bowl on the right of the table, grasps the black spatula inside the bowl, lifts the spatula, moves it leftward across the table, and releases it onto the table surface near the clear plastic water bottle.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 432, "tasks": ["place utensil"], "length": 281, "global_instruction": "Pick up the orange spatula from the kitchen counter and place it inside the open upper cabinet.", "scene_description": "A white microwave sits on a white kitchen counter under an open white upper cabinet holding kitchenware. A green sponge, orange spatula, yellow cleaning gloves, and soap dispensers rest on the counter, and a robotic arm is positioned near the microwave's control panel.", "global_instruction_dense": "The right robotic arm moves down from the microwave toward the counter, grasps the orange spatula, lifts it, moves it upward to the open upper cabinet, and places the spatula inside the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 433, "tasks": ["place utensil"], "length": 220, "global_instruction": "Place the yellow utensil from the counter into the open wall cabinet.", "scene_description": "A kitchen counter sits below an open wall-mounted cabinet. On the counter: a microwave at the left, yellow rubber gloves, purple, yellow, blue utensils, and a sink with a silver kettle, soap bottles and other small items. A right robotic arm is near the sink.", "global_instruction_dense": "The right robotic arm moves down to the counter, grasps the yellow utensil, lifts it, moves toward the open wall cabinet, places the utensil inside the cabinet, then releases it and pulls back from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 434, "tasks": ["place utensil"], "length": 343, "global_instruction": "Remove the utensils from the grey cup and place them on the kitchen counter.", "scene_description": "A white open upper cabinet sits above a white kitchen counter. The counter holds a white microwave on the left, a clear glass, blue plastic knife, wooden spoon, yellow sponge, grey cup with an orange utensil inside, white soap dispenser, orange squeeze bottle, metal kettle, and a robotic arm on the right side near the sink.", "global_instruction_dense": "The right robotic arm moves toward the grey cup on the kitchen counter, grasps a yellow utensil from inside the cup, places it on the counter, then grasps the orange utensil from the cup and places it on the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 435, "tasks": ["place utensil"], "length": 332, "global_instruction": "Reposition the metal wire utensil on the white cutting board next to the water bottle.", "scene_description": "A white gas stove is against a yellow paneled wall with mounted metal spice racks holding jars. On the stove, a white cutting board holds a clear plastic water bottle and a metal wire utensil; a glass spice jar, brown cardboard box, and blue bowl are also on the stove, with a robotic arm positioned to the right of the cutting board.", "global_instruction_dense": "The right robotic arm moves toward the metal wire utensil on the cutting board, grasps and lifts it, adjusts its orientation, lowers it to place it in a new position next to the water bottle, then releases the utensil and moves away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 436, "tasks": ["place utensil"], "length": 407, "global_instruction": "Place the black stir stick on the napkin into the white disposable cup", "scene_description": "A white kitchen countertop holds a wooden stacked paper cup holder on the left, a stainless steel open container, a capsule coffee machine, a wooden supply rack, a coffee capsule holder, a white printed disposable cup on a white napkin, a small black stir stick on the napkin, a glass dish, and a sink area in the background.", "global_instruction_dense": "The right robotic gripper moves toward the black stir stick on the white napkin on the counter, grasps the stir stick, lifts it, moves it over the white disposable cup, inserts the stir stick into the cup, then retracts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 437, "tasks": ["place utensil"], "length": 189, "global_instruction": "Take a black stirrer from the disposable cup and place it into the upper storage rack.", "scene_description": "A white countertop holds a wooden stand with stacked white patterned disposable cups at the left, an open stainless steel container with a green indicator light, a flush black glass panel below the container, a silver and black coffee machine with headphones on top, a small white coffee capsule in front of the machine, a wooden shelf with coffee supplies, a white patterned disposable cup holding black stirrers, a stack of white napkins, and a black keyboard at the far right.", "global_instruction_dense": "The right robotic gripper moves downward toward the white patterned disposable cup on the counter, grasps a black stirrer from inside the cup, lifts the stirrer upward, moves it to the hanging storage rack above the cup, and places the stirrer into the rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 438, "tasks": ["place utensil"], "length": 324, "global_instruction": "Pick up the white plastic straw on the countertop and place it into the patterned paper cup.", "scene_description": "A white countertop has a wooden stacked disposable cup holder on its left, an open silver metal container, a black coffee machine with headphones on top, a white plastic straw resting on a white paper towel, and two patterned paper cups on the right.", "global_instruction_dense": "The right robotic gripper moves toward the white plastic straw on the paper towel, grasps it, lifts and moves it to the left patterned paper cup, inserts the straw into the cup, then releases the straw and moves away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 439, "tasks": ["place utensil"], "length": 170, "global_instruction": "Pick up the black utensil from the counter stand and place it into the upper utensil holder on the wooden shelf.", "scene_description": "A white kitchen countertop holds a wooden stand with stacked white paper cups on the left, a silver appliance with a green indicator light next to the stand, a black coffee machine with headphones placed on top, a patterned disposable cup in front of the coffee machine, a small wooden snack shelf, a rotating coffee pod carousel, disposable masks, small white cups, an inset black sink, a black utensil on a small counter stand, and a robotic arm at the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves left toward the black utensil on the small counter stand, closes its gripper to grasp and lift the utensil, moves it left to the upper section of the wooden snack shelf, lowers it into the utensil holder slot, and releases the gripper to store the utensil in the holder.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 440, "tasks": ["place utensil"], "length": 226, "global_instruction": "Pick up the black tongs on the counter and place them into the wooden storage rack near the coffee machine.", "scene_description": "A white countertop has a wooden stand with stacked white paper cups on the left, a stainless steel container with a green indicator light, a silver-black coffee machine, a wooden storage rack with small packets, a coffee pod holder, and black tongs on a white napkin to the right of the coffee machine.", "global_instruction_dense": "The right robotic gripper moves from off-frame toward the black tongs on the counter, grasps them, lifts and moves them to the wooden storage rack beside the coffee machine, then releases the tongs into the rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 441, "tasks": ["place utensil"], "length": 358, "global_instruction": "Take an orange chopstick from the cup and place it on the tray.", "scene_description": "A white countertop holds a round gray tray with a white rim. On the tray, a patterned white cup filled with orange chopsticks sits next to two loose orange chopsticks on the tray surface, with kitchen equipment and a window in the background.", "global_instruction_dense": "The right robotic arm moves toward the cup of orange chopsticks, grasps one orange chopstick from inside the cup, lifts it out, moves it over the empty space on the tray, lowers it to the tray surface, releases it, and moves away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 442, "tasks": ["place utensil"], "length": 261, "global_instruction": "Place an orange chopstick from the patterned cup onto the round tray.", "scene_description": "A white countertop holds a round dark tray with a white rim. On the tray sits a patterned cup filled with orange chopsticks, plus two orange chopsticks lying on the tray. A white mug with red rim is near the window behind the tray, a stack of disposable cups sits right of the tray, coffee equipment is in the background, and a robotic arm is on the far right of the counter.", "global_instruction_dense": "The right robotic arm moves from the right side of the counter toward the patterned cup of orange chopsticks, grasps one chopstick, lifts it out of the cup, moves it over the round tray, lowers it, releases it onto the tray, then retracts back to the right.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 443, "tasks": ["place utensil"], "length": 379, "global_instruction": "Place the red chopsticks from the tray into the open drawer below the counter.", "scene_description": "A white kitchen counter has a round white-rimmed dark tray, a printed cup filled with red chopsticks, two loose red chopsticks on the tray, a white mug with red interior behind the tray, and an open drawer under the counter full of red chopsticks, with a robotic arm on the counter's right side.", "global_instruction_dense": "The right robotic arm moves toward the red chopsticks on the tray, grasps each chopstick one by one, lifts each, moves to the open drawer, releases each chopstick into the drawer, then lifts away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 444, "tasks": ["place utensil"], "length": 308, "global_instruction": "Take a red long stick from the cup and place it into the open drawer under the counter.", "scene_description": "A white countertop holds a round gray tray, a patterned white cup full of red long sticks, and a stacked cup holder by the window. An open drawer under the counter holds more red long sticks.", "global_instruction_dense": "The right robotic arm moves toward the cup of red sticks on the tray, grasps a red long stick, pulls it out (tilting the cup over in the process), moves the stick downward to the open drawer below the counter, and releases the stick into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 445, "tasks": ["place utensil"], "length": 685, "global_instruction": "Place a red stick from the cup on the counter into the open drawer below the counter.", "scene_description": "A white kitchen counter has a round dark gray tray with white rim on its left side, a white printed cup full of red sticks sits on the tray. A disposable cup dispenser is next to the tray, an open drawer below the counter holds more red sticks, and coffee making equipment is on the right section of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the cup of red sticks on the countertop, grasps a red stick while tilting the cup slightly to extract the stick out of the cup, moves the stick over the open drawer below the counter, releases the stick into the drawer, then moves upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 446, "tasks": ["place utensil"], "length": 225, "global_instruction": "Take a red straw from the cup on the counter and place it into the open drawer below the counter.", "scene_description": "A white countertop holds a cup of red straws on a round grey tray with white rim, an open drawer filled with red straws sits below the counter, coffee supplies are on the counter right, and a window is behind the counter.", "global_instruction_dense": "The right robotic arm moves toward the cup of red straws on the counter, grasps a red straw, lifts it out of the cup, moves it down to the open drawer below the counter, and releases the straw into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 447, "tasks": ["place utensil"], "length": 281, "global_instruction": "Take red chopsticks from the paper cup on the tray and place them into the open drawer below the counter", "scene_description": "A white countertop holds a gray circular tray with a white rim, on which a paper cup filled with red chopsticks sits. To the right of the tray are a stack of disposable cups and coffee appliances, an open drawer below the counter holds more red chopsticks, and a window with outdoor greenery is behind the counter.", "global_instruction_dense": "The right robotic gripper moves toward the paper cup of red chopsticks on the tray, grasps several red chopsticks from the cup, lifts them, moves them over the open drawer below the counter, releases the chopsticks into the drawer, then moves away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 448, "tasks": ["place utensil"], "length": 193, "global_instruction": "Pick up the wooden chopsticks on the tray and place them into the patterned cup on the tray.", "scene_description": "A white kitchen counter has a stainless steel sink on the left with a blue sponge and printed paper cup inside. A chrome faucet, green-capped dish soap bottle, and small metal cap are next to the sink. A black metal wire rack sits right of the sink, and an oval dark tray with a patterned cup, wooden chopsticks, and orange tool is on the right of the rack. A window with a white roller blind is behind the counter, and a white container with a small plant is on the far right of the counter.", "global_instruction_dense": "The right robotic arm enters from the upper right of the frame, moves toward the wooden chopsticks on the oval counter tray, grasps the chopsticks, lifts them, moves them over the patterned cup on the tray, lowers and releases the chopsticks into the cup, then retracts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 449, "tasks": ["place utensil"], "length": 209, "global_instruction": "Take a metal utensil from the paper cup on the tray and place it on the tray surface.", "scene_description": "White kitchen countertop with a left stainless steel sink, chrome faucet at the sink's rear, green-capped dish soap next to the faucet, blue sponge and printed paper cup in the sink, black wire rack right of the sink, oval gray tray further right holding a printed paper cup with two metal utensils and an orange tool, and a window with closed white blind above the counter.", "global_instruction_dense": "The right robotic arm enters from the right of the frame, moves toward the printed paper cup on the oval gray tray, grasps a metal utensil from inside the cup, lifts the utensil out of the cup, lowers it onto the tray surface, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 450, "tasks": ["place utensil"], "length": 436, "global_instruction": "Place the black utensils on the kitchen countertop into the open white drawer.", "scene_description": "A white kitchen countertop holds a white plate at the far left, followed by a small white dish, a black slotted spoon, a black fork, a black knife, a silver-and-black microwave, and a white paper towel roll; an open white drawer sits below the counter near the paper towels, with a right robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the black utensils on the countertop, sequentially grasps the black fork and black knife, moves each utensil over the open white drawer, and releases each into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 451, "tasks": ["place utensil"], "length": 287, "global_instruction": "Place the black utensils from the kitchen counter into the open white drawer below the counter.", "scene_description": "A white kitchen counter holds a large white plate on the far left, a small white round dish, a black fork, a black spoon, and a black-silver microwave at the right end. A white robotic arm is positioned to the right of the counter, with an open white drawer below the counter's right edge.", "global_instruction_dense": "The right robotic arm grasps the black fork from the counter, lifts and moves it to drop into the open white drawer, then returns to grasp the black knife, lifts and moves it to drop into the same drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 452, "tasks": ["place utensil"], "length": 219, "global_instruction": "Pick up the loose black utensil on the countertop and place it into the white utensil cup.", "scene_description": "A three-tiered brown snack basket sits on the left of a white kitchen countertop, with a black mug rack, white utensil cup, loose black utensil, and wooden paper cup dispenser placed on the rest of the counter, and a robotic arm above the counter.", "global_instruction_dense": "The right robotic arm moves toward the loose black utensil on the countertop, grasps it, lifts and moves it over the white utensil cup, releases it into the cup, then retracts away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 453, "tasks": ["place utensil"], "length": 259, "global_instruction": "Remove a black utensil from the cup and place it on the kitchen countertop.", "scene_description": "A white kitchen counter has a tiered wicker basket of colorful snack packs on its left, three cups (one holding utensils) near the center, and a paper cup dispenser on its right, with a robotic gripper positioned above the counter.", "global_instruction_dense": "The right robotic arm moves toward the utensil-containing cup on the counter, grasps a black utensil from inside the cup, lifts it, resets the displaced cup back onto the counter, moves the utensil to the right side of the counter, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 454, "tasks": ["place utensil"], "length": 202, "global_instruction": "Take a metal utensil from the patterned green-based cup and place it on the white kitchen countertop.", "scene_description": "A tiered wicker basket holding orange, red, and green packaged snacks is on the left of a white kitchen countertop. A metal cup rack with white and red cups, multiple small cups including a patterned cup with a green base, and small utensils are on the counter, with a robotic arm positioned above the counter near the cups.", "global_instruction_dense": "The right robotic arm moves toward the patterned green-based cup on the counter, lowers its gripper into the cup to grasp a metal utensil, lifts the utensil out of the cup, moves it rightward over empty counter space, lowers the utensil, releases it onto the countertop, then moves away from the placement site.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 455, "tasks": ["place utensil"], "length": 206, "global_instruction": "Pick up the small black tongs on the center counter and place them next to other cutlery on the left side of the counter.", "scene_description": "A white kitchen counter holds a wooden stacked paper cup holder, various black and metal cutlery, three cups (one white with red interior, two patterned paper cups), a small purple plastic item, a red soda can, a coffee machine, a silver container, and a white robotic arm with orange accents is positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the small black tongs on the center of the counter, grasps them, lifts them, moves left to the area with other cutlery, releases the tongs onto the counter, then retracts.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 456, "tasks": ["place utensil"], "length": 678, "global_instruction": "Place the black tongs on the countertop into the white mug with red interior.", "scene_description": "A white kitchen countertop holds two patterned paper cups on the left, a pair of black tongs, a white mug with red interior, a clear plastic bag with purple items, a wooden stand holding stacked white paper cups, metal storage containers, a small black spoon, and a dark blue water bottle near a background sink, with two robotic arms present.", "global_instruction_dense": "The left robotic arm first adjusts the position of the white mug with red interior, then moves to grasp the black tongs on the countertop, lifts and moves the tongs over the mug, lowers and releases the tongs into the mug, then moves upward away from the mug.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 457, "tasks": ["place utensil"], "length": 276, "global_instruction": "Remove black tongs and a black spoon from the white mug, place tongs on the counter and the spoon into the patterned paper cup.", "scene_description": "A white kitchen counter holds a wooden stacked paper cup holder, a white mug with red interior and red handle containing black tongs, two patterned disposable paper cups to the left of the mug, a small black spoon at the back of the counter, a silver canister, and a coffee machine, with two robotic arms positioned near the right edge of the counter.", "global_instruction_dense": "The left robotic arm moves toward the white red-handled mug, grasps the black tongs inside it, lifts and places the tongs on the countertop, then grasps a black spoon from the same mug, lifts it, moves it left to the patterned disposable paper cup, and places the spoon inside the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 458, "tasks": ["place utensil"], "length": 402, "global_instruction": "Place the black utensils from the white cup with red interior into the patterned white cup", "scene_description": "A white kitchen countertop holds a wooden paper cup holder with stacked white paper cups, several black and green utensils laid out, a white cup with red interior holding black utensils, a patterned white cup with a black utensil inside, an additional patterned paper cup at the left edge, and a left robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm first grasps a black knife from the white cup with red interior, lifts and moves it to drop into the patterned white cup, then grasps a black fork from the same white cup with red interior, lifts and moves it to drop into the patterned white cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 459, "tasks": ["place utensil"], "length": 444, "global_instruction": "Place the black tongs from the counter into the cup holding black utensils.", "scene_description": "A white kitchen counter holds a patterned white cup, a cup of black utensils, a white mug with red interior, a clear plastic bag, two black tongs, one light green tong, a wooden paper cup dispenser, a silver metal container, a coffee maker, and a small black spoon, with robotic arms positioned at the right side of the counter.", "global_instruction_dense": "The left robotic arm moves toward the black tongs on the white counter, grasps the tongs, lifts them, moves left toward the cup of black utensils, and releases the tongs into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 460, "tasks": ["place utensil"], "length": 305, "global_instruction": "Place the black utensil from the clear printed cup into the white mug with red handle.", "scene_description": "A white kitchen counter holds a fallen patterned paper cup on the far left, a white mug with red interior and handle holding a white utensil to its right, a small purple packet and light green plastic piece beside the mug, a wooden stacked paper cup dispenser behind the mug, a silver canister with an open lid, a clear printed cup holding a black utensil, a black spoon on the counter right of the clear cup, background kitchen appliances, and a robotic arm above the right side of the counter.", "global_instruction_dense": "The left robotic arm moves toward the clear printed cup on the counter, grasps the black utensil inside it, lifts the utensil out, moves left toward the white red-handled mug, lowers the utensil into the mug, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 461, "tasks": ["place utensil"], "length": 243, "global_instruction": "Place the black tongs from the wire rack into the white utensil mug.", "scene_description": "A white kitchen countertop holds a black wire cup rack, a brown disposable cup dispenser, a white mug with a red handle holding utensils, a small purple object on the counter, with a robotic arm positioned at the right of the counter and kitchen appliances in the background.", "global_instruction_dense": "The left robotic arm moves toward the black tongs resting on the black wire rack, grasps them, lifts them, moves right over the white utensil mug, lowers the tongs into the mug, and releases them.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 462, "tasks": ["place utensil"], "length": 461, "global_instruction": "Place all utensils on the kitchen counter into the stainless steel sink.", "scene_description": "A white kitchen counter holds a centered stainless steel sink, two silver faucets left of the sink, a blue bowl on a plate right of the sink, a clear cup with a white spoon inside in front of the sink, two utensils left of the cup, a dark kettle on the far left, and a white robotic arm on the counter's right above the blue bowl.", "global_instruction_dense": "The right robotic arm moves toward the clear cup, lifts the white spoon out of the cup, places the spoon with the other utensils on the counter, grasps all utensils, moves them over the sink, and releases them into the sink.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 463, "tasks": ["place utensil"], "length": 189, "global_instruction": "Grasp the upright black food tongs and place them flat on the kitchen counter.", "scene_description": "A white kitchen counter holds a green-capped clear bottle, spray bottle, silver small container, stacked white napkins, blue cereal bowl with a white spoon inside, metal fork, red apple, orange food packet, multiple patterned white paper cups, a plate of food, and upright black food tongs at the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the upright black food tongs on the right of the kitchen counter, grasps them, lifts them, adjusts their orientation, places them flat on the counter surface, then releases them and moves away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 464, "tasks": ["place utensil"], "length": 364, "global_instruction": "Place utensils from the far fruit plate into the blue bowl on the counter.", "scene_description": "A white breakroom counter has stacked white napkin holders on its left side, a printed disposable cup with a white lid in the foreground, a white bowl holding a smaller cup, an orange item, a blue bowl, and a plate of fruit at the far end of the counter.", "global_instruction_dense": "The right robotic arm extends from the top of the frame toward the far fruit plate on the counter, grasps utensils from the plate, moves each utensil to the blue bowl, releases them into the bowl, and retracts upward after placing the utensils.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 465, "tasks": ["place utensil"], "length": 457, "global_instruction": "Place the metal fork and spoon on the counter into the blue bowl.", "scene_description": "A white kitchen counter holds a plate with a red apple and yellow banana in the foreground, a white patterned mug, a metal fork, a metal spoon, a blue bowl, an orange packaged item, a metal tissue box, and stacked white takeout boxes on the far left, with a white robotic arm positioned at the right side of the counter.", "global_instruction_dense": "The left robotic arm moves toward the metal spoon near the blue bowl, grasps it, lifts it, moves it over the blue bowl, releases it into the bowl, then moves toward the metal fork near the white mug, grasps it, lifts it, moves it over the blue bowl, releases it into the bowl, then moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 466, "tasks": ["place utensil"], "length": 221, "global_instruction": "Reposition the small metallic utensil next to the blue bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds stacked white takeout boxes on the left, followed by a silver tissue holder, a white patterned cup, a black metal fork, a plate with a red tomato and yellow banana, a blue bowl, an orange snack package, and a paper towel roll, with a white robotic arm at the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the small metallic utensil next to the blue bowl, grasps the utensil to adjust its position on the counter, then releases the utensil and lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 467, "tasks": ["place utensil"], "length": 263, "global_instruction": "Take the plastic straw from the white cup and place it next to the banana on the fruit plate.", "scene_description": "A white kitchen counter holds a white cup with a straw, black fork, blue bowl, orange packet, napkin holder, white storage boxes, and a plate with a red apple and yellow banana. A Franka Emika robotic arm is positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white cup on the counter, grasps the plastic straw inside the cup, pulls it out, moves it over to the plate holding a red apple and yellow banana, places the straw next to the banana, releases the straw, and moves away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 468, "tasks": ["place utensil"], "length": 287, "global_instruction": "Pick a white straw from the wooden organizer and place it on the white kitchen countertop.", "scene_description": "A white kitchen countertop holds tiered wooden organizers filled with white straws, assorted drink packets, and creamer pods, with coffee-making supplies in the background and a robotic arm at the right side of the counter.", "global_instruction_dense": "The right robotic gripper moves left toward the white straw compartment in the wooden organizer, grasps a white straw, lifts it out of the organizer, moves rightward over the counter, and releases the straw to drop onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 469, "tasks": ["place utensil"], "length": 337, "global_instruction": "Place a white straw into the straw compartment of the left wooden storage organizer.", "scene_description": "A white kitchen counter holds multi-compartment wooden storage organizers filled with white straws, assorted colored beverage sachets, and disposable utensils, a small open wooden tray with wrapped items, a purple packet, coffee making equipment, and cups in the background, with a robotic arm positioned on the far right of the counter.", "global_instruction_dense": "The right robotic arm moves toward a white straw in the small wooden tray on the counter, grasps the straw, lifts it, moves it to the left wooden organizer compartment holding other white straws, lowers it, releases the straw into the compartment, then moves away from the organizer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 470, "tasks": ["place utensil"], "length": 244, "global_instruction": "Place a wooden stir stick from the countertop organizer onto the counter surface.", "scene_description": "A white kitchen countertop holds multi-tiered wooden organizers filled with assorted drink packets, white straws, disposable cups, a coffee machine, and small storage containers, with a robotic arm positioned at the right side of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the wooden organizer on the counter, grasps a wooden stir stick from the organizer, lifts it, moves it rightward above the counter, and releases it onto the white countertop surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 471, "tasks": ["place utensil"], "length": 260, "global_instruction": "Pick up the chopsticks on the counter and place them into the wooden beverage organizer.", "scene_description": "A white countertop holds wooden organizers with assorted beverage supplies (straws, tea/coffee sachets, creamer pods), two light brown chopsticks laid on the counter surface, a coffee station at the back, and a robotic arm positioned at the right side of the counter.", "global_instruction_dense": "The right robotic arm moves down toward the light brown chopsticks on the white counter, grasps the chopsticks with its gripper, lifts them, moves to the upper slot of the wooden beverage organizer, places the chopsticks into the slot, then releases them and retracts.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 472, "tasks": ["place utensil"], "length": 235, "global_instruction": "Take a white plastic utensil from the patterned paper cup and place it into the sink.", "scene_description": "A white kitchen countertop has a stainless steel toaster on its left side, a wooden cup organizer, a patterned paper cup, a small patterned plate, a blue bowl with food, a metal spoon next to the bowl, and a sink on its right side, with a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves down toward the patterned paper cup on the kitchen counter, grasps the white plastic utensil inside the cup, lifts the utensil out, moves it over the adjacent sink, and releases the utensil into the sink.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 473, "tasks": ["place utensil"], "length": 208, "global_instruction": "Place the white straw onto the purple-and-white patterned paper plate on the kitchen counter.", "scene_description": "A kitchen counter with a gray tile backsplash holds a purple-and-white patterned paper plate, a white printed cup, a blue bowl with food, a wooden coffee rack, and a sink at the rear. A right robotic arm is positioned near the sink initially.", "global_instruction_dense": "The right robotic arm moves toward the white straw near the sink, grasps it, lifts it, carries it left above the purple-and-white patterned paper plate, lowers the straw, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 474, "tasks": ["place utensil"], "length": 289, "global_instruction": "Place the white utensil from the striped paper plate into the patterned white disposable cup.", "scene_description": "A white kitchen counter holds a silver toaster on the far left, a striped paper plate with a thin white utensil, a patterned white disposable cup, a blue bowl of purple food, a wooden coffee caddy, and a robotic arm positioned near the sink at the back right against a gray tiled backsplash.", "global_instruction_dense": "The right robotic gripper moves from its position near the sink toward the white utensil on the striped paper plate, grasps the utensil, lifts it, moves it over the patterned white disposable cup, lowers the utensil, releases it into the cup, and then retracts.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 475, "tasks": ["place utensil"], "length": 188, "global_instruction": "Operate the kitchen sink faucet and place a straw into the sink.", "scene_description": "A white kitchen counter holds a silver appliance on the far left, a black tape dispenser with white tape, a black-and-white patterned circular dish, a light wooden storage shelf, a brown metallic kettle, and a blue bowl near the sink, with a right robotic gripper positioned above the counter near the blue bowl.", "global_instruction_dense": "The right robotic gripper moves toward the kitchen sink faucet, operates it, then grasps a nearby straw, moves it over the sink, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 476, "tasks": ["place utensil"], "length": 144, "global_instruction": "Place the white utensil from the blue bowl into the paper cup.", "scene_description": "A stainless steel sink is on the left of a white kitchen countertop, with a green-cap dish soap bottle, blue sponge, and small metal shaker next to it. On the countertop are two white tissue boxes, a paper cup with a spoon inside, a blue bowl holding red food and a white utensil, and a white paper towel roll on a holder.", "global_instruction_dense": "The right robotic gripper moves toward the blue bowl on the countertop, grasps the white utensil inside the bowl, lifts the utensil, moves it over the adjacent paper cup, and inserts it into the paper cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 477, "tasks": ["place utensil"], "length": 199, "global_instruction": "Place the wooden stir stick from the patterned paper cup onto the white paper towel on the kitchen counter", "scene_description": "A stainless steel sink is on the left of a white kitchen countertop. On the counter, from left to right: a green-capped dish soap bottle, a blue sponge, a small metal shaker, two white tissue boxes, a patterned white paper cup with a wooden stir stick inside, a blue bowl with red contents, a white paper towel roll on a stand, and a flat white paper towel laid in front of the cup.", "global_instruction_dense": "The right robotic arm moves toward the wooden stir stick inside the patterned paper cup on the counter, grasps the stick, lifts it out of the cup, moves it over the flat white paper towel on the counter, and releases the stick onto the towel.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 478, "tasks": ["place utensil"], "length": 235, "global_instruction": "Place the white utensil onto the white cloth next to the kitchen sink.", "scene_description": "A white kitchen countertop has a stainless steel sink on its left, a green-cap dish soap bottle, blue sponge, two white tissue boxes, a patterned white cup, a blue bowl with red contents, and a white paper towel roll on a stand, with grey tiled backsplash behind the counter.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, grasps the white utensil behind the blue bowl, moves it over the blue bowl, then transports it to the white cloth next to the sink, and releases it onto the cloth.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 479, "tasks": ["place utensil"], "length": 367, "global_instruction": "Place the small dark utensil into the white cup with red interior.", "scene_description": "A white kitchen counter against a gray tiled wall with power outlets holds a leftmost paper towel roll, red and teal small packets, a white bowl with dark food, a tall patterned cup, a black-and-white patterned dish, a white cup with blue patterns, a white cup with red interior, and two small lidded white containers at the right.", "global_instruction_dense": "The right robotic arm moves from the top right toward the counter, grasps a small dark utensil, drops it into the blue-patterned white cup, lifts it again, moves it to the red-interior white cup, drops it inside, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 480, "tasks": ["place utensil"], "length": 285, "global_instruction": "Pick up the wooden stick from the kitchen counter and drop it into the trash can under the counter.", "scene_description": "A white kitchen counter holds a black-and-white checkerboard calibration mat, a blue bowl of colorful cereal, a paper towel roll, a white bowl with food, a red-rimmed white mug, and other small items. A gray trash can sits under the counter, and a robotic arm is positioned at the right end of the counter.", "global_instruction_dense": "The right robotic arm moves toward the wooden stick on the right section of the kitchen counter, grasps it, lifts it, moves it over the gray trash can under the counter, releases the stick to drop it into the trash, then moves back upward toward the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 481, "tasks": ["place utensil"], "length": 206, "global_instruction": "Pick up the white plastic utensil from the kitchen counter and place it into the trash bin under the counter.", "scene_description": "A white kitchen counter holds a blue bowl of colorful food, a black-and-white checkerboard calibration board, a white paper towel roll, a white bowl with food scraps, a red-rimmed white mug, disposable cups, a grey trash bin sits under the counter, and a robotic arm is positioned at the right edge of the counter.", "global_instruction_dense": "The right robotic arm extends from the right of the counter toward the white plastic utensil on the counter, grasps it, lifts it, moves it over the grey trash bin below the counter, releases the utensil to drop it into the bin, then retracts back to its starting position at the right of the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 482, "tasks": ["place utensil"], "length": 373, "global_instruction": "Place the silver utensil from the blue-and-white patterned plate into the right white patterned paper cup.", "scene_description": "A light grey tiled kitchen counter holds a sink at the far left, a clear spray bottle next to the sink, two white tissue boxes, a white patterned paper cup, a green-capped grey dish soap bottle, a black tray with white papers, a blue-and-white patterned plate with a silver utensil, a red long tube, a small silver clip, a green packet, a second white patterned paper cup, and a white paper towel holder at the back, with a robotic base on the counter's right edge.", "global_instruction_dense": "The right robotic arm moves toward the blue-and-white patterned plate, grasps the silver utensil resting on it, lifts the utensil, moves it to the right white patterned paper cup, inserts the utensil into the cup, then retracts and moves back toward the plate.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 483, "tasks": ["place utensil"], "length": 551, "global_instruction": "Pick up the silver scoop from the kitchen counter near the white plate and place it on the counter near the glass coffee bean jar.", "scene_description": "A white kitchen countertop holds a wooden-neck pour-over coffee maker, an orange, a red apple, a green apple, a green sachet, a white plastic spoon, a black coffee grinder, a large glass jar of coffee beans, a small silver metal scoop, a white round plate, and ceramic cups, with a sink at the far end of the counter and a right Franka robotic arm positioned on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves toward the small silver scoop on the kitchen counter next to the white plate, grasps the scoop with its gripper, lifts it, moves it over the sink area at the end of the counter, then moves it back toward the counter, lowers it, and places it down near the large glass coffee bean jar.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 484, "tasks": ["place utensil"], "length": 216, "global_instruction": "Take the wooden scoop from the patterned bowl and place it on the table near the paper cup.", "scene_description": "A white table holds a black-and-white geometric patterned bowl (with wooden scoops and dark beans inside) in the front left, a light beige open wooden box with colorful blocks in the front right, and background items including stacked white takeout containers, a patterned white paper cup, a small yellow-green block tower, small dice, a white napkin, and a black-and-white tissue box, with dark bench seating behind the table.", "global_instruction_dense": "The right robotic arm moves into the frame above the table, lowers toward the black-and-white patterned bowl, grasps the wooden scoop inside, lifts the scoop out of the bowl, moves it toward the patterned paper cup, and releases it onto the table next to the cup before moving away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 485, "tasks": ["place utensil"], "length": 154, "global_instruction": "Place the white stick from the table into the shallow light-colored tray.", "scene_description": "A white table holds a large wooden bowl with yellow items inside, multiple trays and containers behind the bowl, a transparent plastic tool case to the left of the bowl, a left robotic arm above the rear of the table, and a right robotic arm at the right edge of the frame.", "global_instruction_dense": "The left robotic arm moves downward toward the white stick on the table, grasps it, lifts it, moves it over the shallow light-colored tray, releases the stick into the tray, then lifts upward away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 486, "tasks": ["place utensil"], "length": 308, "global_instruction": "Pick the small white scoop from the transparent plastic bin and place it into the kitchen sink.", "scene_description": "A white kitchen counter holds a large white paper towel roll, a tray with brown food pieces and a metal fork, a transparent plastic storage bin, a stainless steel sink with faucets, and a wooden coffee supply rack against a grey tiled backsplash.", "global_instruction_dense": "The right robotic gripper moves toward the transparent plastic bin on the kitchen counter, grasps the small white scoop inside it, lifts the scoop, moves it over the stainless steel sink, releases the scoop to drop it into the sink, then adjusts its position above the sink area.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 487, "tasks": ["place utensil"], "length": 296, "global_instruction": "Place the light brown wooden stick on the countertop into the blue-and-white patterned paper plate.", "scene_description": "A white kitchen countertop holds a light brown thin wooden stick, a blue-and-white zigzag patterned paper plate with small packets inside, a white paper cup, a roll of white paper towels, a stainless steel beverage appliance, and a display monitor on the far left. A white collaborative robotic arm is positioned at the upper right of the frame initially.", "global_instruction_dense": "The right robotic arm moves from its upper right starting position toward the light brown wooden stick on the countertop, grasps the stick, lifts it, moves it over the blue-and-white zigzag patterned paper plate, lowers it, releases the stick into the plate, then lifts upward away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 488, "tasks": ["place utensil"], "length": 161, "global_instruction": "Pick a utensil from the white cup with red interior and place it into the utensil holder near the paper towel roll.", "scene_description": "A silver and black Keurig coffee machine, a coffee pod rack, a white cup with red interior, a patterned small cup, and a white paper towel roll are placed on a white kitchen counter. A robotic arm with orange bands is positioned at the right side of the counter.", "global_instruction_dense": "The left robotic arm moves toward the white cup with red interior on the counter, grasps a utensil inside it, lifts the utensil, moves it to the utensil holder next to the paper towel roll, releases the utensil into the holder, then lifts back up.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 489, "tasks": ["place utensil"], "length": 154, "global_instruction": "Place a stir stick into the blue and white patterned dish on the kitchen counter.", "scene_description": "A silver and black Keurig coffee machine is on the left of a white kitchen countertop, a coffee capsule rack sits next to the machine, a blue and white patterned dish, a white cup with red rim, and a stir stick container are arranged on the counter, with the left robotic arm positioned above the counter near the back.", "global_instruction_dense": "The left robotic arm moves toward the stir stick container on the counter, grasps a thin stir stick, lifts it, moves it over the blue and white patterned dish, and releases the stir stick into the dish.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 490, "tasks": ["place utensil"], "length": 191, "global_instruction": "Place a white straw from the rear white cup into the patterned white cup near the coffee machine.", "scene_description": "A white kitchen counter has a silver and black Keurig coffee machine on its left, with a small white container, blue cylinder, patterned white cup, small patterned dish, red-rimmed cup, and a rear white cup holding straws arranged on it; a white robotic arm is positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the rear white cup on the counter, grasps a white straw inside it, lifts the straw out, moves left to the patterned white cup near the Keurig machine, lowers the straw into the cup, and releases the straw.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 491, "tasks": ["place utensil"], "length": 252, "global_instruction": "Take a utensil from the white cup with red rim and place it into the patterned white cup.", "scene_description": "A white kitchen counter has a silver and black Keurig coffee machine on the left, a patterned white cup, small blue block, small white container, decorative plate, and a white cup with red rim further right; a white right robotic arm is positioned at the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white cup with red rim, grasps a utensil inside it, lifts the utensil, moves left over the patterned white cup, lowers and releases the utensil into the cup, then moves upward away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 492, "tasks": ["place utensil"], "length": 144, "global_instruction": "Place the utensil from the blue-and-white dish into the utensil container.", "scene_description": "A light-colored kitchen counter holds a silver and black Keurig coffee machine, a gray toaster, a utensil container with orange utensils, a small blue-and-white dish, and a white mug with red interior. A right robotic arm is positioned above the counter, while a stationary left robotic arm sits at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the blue-and-white dish on the counter, grasps the small utensil inside the dish, lifts the utensil, moves it toward the utensil container, and releases the utensil into the container.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 493, "tasks": ["place utensil"], "length": 188, "global_instruction": "Pick a silver utensil from near the white cups and place it into the orange utensil container.", "scene_description": "A white kitchen counter holds a black-and-silver Keurig coffee machine on its left, a gray appliance, a container with orange utensils, a small patterned dish, two white cups with red interiors, a brown tissue box, and sink fixtures at the far end; a left white robotic arm is positioned above the sink area, and a right robotic arm base is at the right frame edge.", "global_instruction_dense": "The left robotic arm moves from above the sink area toward the silver utensil next to the white red-interior cups, grasps the utensil, lifts it, moves left toward the container holding orange utensils, lowers the utensil, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 494, "tasks": ["place utensil"], "length": 283, "global_instruction": "Transfer utensils from the patterned cup to the red-rimmed white mug on the counter.", "scene_description": "A white kitchen counter holds a silver and black Keurig coffee machine on the left, followed by a gray appliance, a small white coffee pod, a blue and white patterned dish, a white patterned cup holding orange and silver utensils, a red-rimmed white mug, a wooden tissue box, and a sink in the background. The left robotic arm is positioned above the counter, and the right robotic arm is fixed on the right edge of the frame.", "global_instruction_dense": "The left robotic arm grasps a silver utensil from the patterned cup, moves it over the red-rimmed white mug and drops it inside, then returns to the cup, grasps an orange utensil, moves it over the mug and drops it inside.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 495, "tasks": ["place utensil"], "length": 154, "global_instruction": "Place the orange spatula from the glass holder into the white mug with red trim", "scene_description": "A white kitchen counter holds a silver and black Keurig coffee maker on the left, a small white coffee pod, a patterned small dish, a glass utensil holder, a white mug with red trim, a wooden storage caddy, and assorted small kitchen items along its length. A left robotic arm is positioned above the rear of the counter, and a right robotic arm is mounted on a stand to the right of the counter.", "global_instruction_dense": "The left robotic arm moves toward the orange spatula in the glass utensil holder on the kitchen counter, grasps it, lifts it out of the holder, moves it rightward over the white mug with red trim, and releases the spatula into the mug.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 496, "tasks": ["place utensil"], "length": 141, "global_instruction": "Place a white utensil from the dotted white cup into the red-accented white cutlery cup.", "scene_description": "A white kitchen countertop holds a silver and black Keurig coffee machine on the left, a small white k-cup pod, a small patterned dish, a dotted white cup, a white cup with red interior holding cutlery, a wooden tissue box, and a sink at the far end. A left robotic arm is positioned above the counter near the sink initially.", "global_instruction_dense": "The left robotic arm moves from its position near the sink toward the dotted white cup, grasps a white utensil inside it, lifts the utensil, moves it over the red-accented white cutlery cup, and releases the utensil into this cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 497, "tasks": ["place utensil"], "length": 323, "global_instruction": "Transfer white utensils from the dotted white cup to the white cup with the red rim.", "scene_description": "A white kitchen counter holds a silver Keurig coffee machine on the left, a silver toaster adjacent to it, a dotted white utensil cup, a white utensil cup with a red rim, a small blue-and-white dish, a white coffee pod, and a right robotic arm positioned on the right side of the counter.", "global_instruction_dense": "The right robotic arm moves to the dotted white cup, grasps a white utensil, transfers it to the red-rimmed white cup and releases it, then repeats the process to transfer a second utensil between the two cups.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 498, "tasks": ["place utensil"], "length": 191, "global_instruction": "Place a utensil from the countertop cup into the white utensil holder cup.", "scene_description": "A black and silver Keurig coffee machine sits on the left of a white kitchen countertop, with a small white coffee pod, a patterned white bowl, a Starbucks-logo cup, and a white cup holding utensils arranged in front of it. A white robotic arm is positioned on the right side of the scene, with its left arm located at the rear of the counter in the first frame.", "global_instruction_dense": "The left robotic arm moves from the rear of the kitchen counter, lowers to grasp a utensil from the Starbucks-logo cup, lifts the utensil, moves it toward the white utensil-holding cup, and places the utensil inside that cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 499, "tasks": ["place utensil"], "length": 153, "global_instruction": "Pick a red utensil from the white cup and place it into the clear patterned glass.", "scene_description": "A silver and black Keurig coffee machine is on the left of a white kitchen counter, a white cup holding utensils sits in the middle next to a clear patterned glass, a sink is at the counter's far end, and a robotic arm is positioned above the counter near the sink.", "global_instruction_dense": "The left robotic arm moves down toward the white utensil cup on the counter, grasps a red long utensil, lifts it, moves left above the clear patterned glass, lowers the utensil, and releases it into the glass.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 500, "tasks": ["place utensil"], "length": 157, "global_instruction": "Place a utensil from the white utensil mug into the patterned glass cup", "scene_description": "A white kitchen counter holds a silver and black Keurig coffee maker on the left, a patterned glass cup, a white mug filled with utensils, and a sink with kitchen items further back. A left robotic arm is positioned above the counter, and a stationary right robotic arm base sits on the right edge of the scene.", "global_instruction_dense": "The left robotic arm moves toward the white utensil mug on the kitchen counter, grasps a white utensil, lifts it out of the mug, moves it over the adjacent patterned glass cup, and releases the utensil into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 501, "tasks": ["place utensil"], "length": 189, "global_instruction": "Place a silver utensil from the white utensil mug into the adjacent patterned cup.", "scene_description": "A white kitchen counter holds a silver Keurig coffee machine on the left, a patterned cup, a white mug with utensils, assorted kitchen supplies, a sink at the far end, and a white robotic arm is positioned at the right of the frame.", "global_instruction_dense": "The right robotic arm moves left toward the white utensil mug on the counter, grasps a silver utensil, lifts it, moves it further left over the patterned cup, lowers the utensil, and releases it into the patterned cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 502, "tasks": ["place utensil"], "length": 174, "global_instruction": "Place a silver utensil from the white cup into the patterned clear cup on the kitchen counter.", "scene_description": "A white kitchen counter holds a silver and black Keurig coffee machine on the left, a small green cap, a small blue cap, a patterned clear utensil cup, a white cup with red accents holding utensils, a wooden organizer, a sink with a faucet further along the counter, and the right robotic arm is positioned near the sink at the far end of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white utensil cup on the kitchen counter, grasps a silver utensil from it, lifts the utensil, moves left to position over the patterned clear cup, and releases the utensil into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 503, "tasks": ["place utensil"], "length": 202, "global_instruction": "Place a utensil from the white mug on the kitchen counter into the adjacent transparent patterned cup.", "scene_description": "A white kitchen counter holds a silver Keurig coffee machine on its left side, along with assorted cups, a white mug holding utensils, a transparent patterned cup, and other small kitchen items. A left robotic arm is positioned above the counter near the sink area.", "global_instruction_dense": "The left robotic arm moves toward the white mug of utensils on the kitchen counter, grasps a long white utensil, lifts it, moves it left over the transparent patterned cup, lowers it, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 504, "tasks": ["place utensil"], "length": 353, "global_instruction": "Left robotic arm picks a utensil from the clear cup and places it on the kitchen counter.", "scene_description": "A white kitchen counter holds a silver and black Keurig coffee machine on the left, a clear patterned cup with utensils near the center, multiple mugs, and a sink at the far end, with a fixed right robotic arm on the right side of the scene.", "global_instruction_dense": "The left robotic arm enters the frame, briefly lifts and replaces the clear utensil cup on the counter, grasps a white utensil from the cup, moves the utensil leftward, and releases it onto the kitchen counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 505, "tasks": ["place utensil"], "length": 249, "global_instruction": "Place the plastic utensil from the counter into the white patterned cup.", "scene_description": "A white kitchen countertop holds a brown basket with a shiny chrome lid, a white paper cup, a green pear, a blue-and-white patterned small plate, a tall white patterned cup on a white saucer, two oranges, and a sink with a faucet at the far end; a right robotic arm is positioned near the sink.", "global_instruction_dense": "The right robotic arm moves from near the sink toward the thin plastic utensil on the counter, grasps the utensil, lifts it, moves it over the tall white patterned cup, inserts the utensil into the cup, then releases it and pulls back slightly.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 506, "tasks": ["place utensil"], "length": 239, "global_instruction": "Take the straw from the printed paper cup and place it on the blue-and-white patterned plate", "scene_description": "A white kitchen counter holds a green pear, two printed paper cups, a blue-and-white patterned plate, two oranges, and a shiny silver lid next to a grey tiled wall with electrical sockets. A white robotic arm is positioned on the right side of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the printed paper cup on the kitchen counter, grasps the plastic straw inside the cup, lifts the straw out of the cup, moves it over the blue-and-white patterned plate, lowers the straw, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 507, "tasks": ["place utensil"], "length": 197, "global_instruction": "Place the white plastic utensil from the striped plate into the patterned white cup.", "scene_description": "On a white kitchen counter: a green pear is at the front left, a shiny silver appliance is left of center, a blue and white striped plate holding a white plastic utensil is center-left, a white patterned cup on a white saucer is at the center, two oranges are between the cup and the rear sink, grey tiled wall is on the left, and two robotic arms are at the right side of the frame initially.", "global_instruction_dense": "The left robotic arm moves toward the white utensil on the blue-white striped plate, grasps and lifts it, moves it over the patterned white cup, lowers it into the cup, releases it, and retracts away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 508, "tasks": ["place utensil"], "length": 173, "global_instruction": "Place a white plastic utensil into the white paper cup on the countertop.", "scene_description": "A white countertop holds a blue-and-white patterned paper plate with chocolate chips, a white patterned paper cup, a metal spoon, stacked white napkin boxes, four loose chocolate chips on a white napkin, and a Franka robotic arm on the right side of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the utensil storage at the back of the counter, grasps a white plastic utensil, moves it over to the white paper cup, inserts the utensil into the cup, then lifts and moves back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 509, "tasks": ["place utensil"], "length": 185, "global_instruction": "Take a stirring stick from the patterned paper cup and place it on the counter next to the metal spoon.", "scene_description": "A white kitchen counter with a gray tiled backsplash holds a left-side stainless steel sink, green-capped dark dish soap bottle, clear spray bottle, small silver shaker, metal spoon, white patterned paper cup, blue-and-white patterned small dish, and wall-adjacent white storage containers, with a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm descends toward the white patterned paper cup, grasps a white stirring stick inside it, lifts the stick out of the cup, moves left to the counter area above the metal spoon, releases the stick onto the counter, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 510, "tasks": ["place utensil"], "length": 202, "global_instruction": "Place the white plastic straw on the counter into the patterned white mug.", "scene_description": "A white kitchen counter holds a green-capped dish soap bottle, clear spray bottle, small silver container near the left sink, a metal spoon, white plastic straw, blue-and-white patterned paper plate with dark beans, stacked white napkins, patterned white mug, and a white tray with dark beans at the far end, with a robotic gripper above the far tray.", "global_instruction_dense": "The right robotic gripper moves down toward the white plastic straw on the counter, grasps it, lifts and carries it to the patterned white mug, lowers it into the mug, then releases the straw and moves upward away from the mug.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 511, "tasks": ["place utensil"], "length": 249, "global_instruction": "Place a white straw next to the metal spoon on the countertop napkin", "scene_description": "A white countertop holds a metal spoon on a white napkin, stacked white napkin boxes, a metallic napkin dispenser, a patterned ceramic cup, and a clear glass at the left edge. A grey tiled wall with electrical switch panels is behind the counter, with a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves to the rear of the counter, grasps a white straw, transports it over to the metal spoon on a white napkin at the front of the counter, releases the straw next to the spoon, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 512, "tasks": ["place utensil"], "length": 248, "global_instruction": "Place a chopstick onto the blue-and-white patterned paper plate", "scene_description": "A white kitchen countertop has a light brown open box with colorful small items on the far left, a tall stack of white rectangular paper products, a gray square napkin dispenser, a white shallow bowl, a small purple square card, a set of metal keys, multiple patterned paper cups, a blue-and-white patterned paper plate, and a small orange tag next to the plate, with a robotic arm at the top right edge of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward a chopstick on the counter, grasps the chopstick, lifts and moves it over the blue-and-white patterned paper plate, releases the chopstick onto the plate, then retracts upward to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 513, "tasks": ["place utensil"], "length": 122, "global_instruction": "Pick up chopsticks from the blue-and-white patterned plate and place them on the white countertop.", "scene_description": "A white kitchen counter holds an open light brown cardboard box (left, with colorful items inside), a tall stack of white napkins, a grey napkin dispenser, a white round plate atop a clear plastic container, a small purple square tile, two metal spoons, two patterned paper cups, a tall stack of matching patterned paper cups, and a blue-and-white patterned round paper plate with chopsticks resting on it, with no robotic arm visible in the initial frame.", "global_instruction_dense": "The right robotic gripper moves from off-frame right toward the blue-and-white patterned plate, grasps the chopsticks resting on the plate, lifts the chopsticks, moves them a short distance left, and releases them onto the empty white countertop surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 514, "tasks": ["place utensil"], "length": 331, "global_instruction": "Pick up a wooden chopstick from the countertop and place it into the paper cup.", "scene_description": "A white kitchen counter holds an open cardboard box of small items, stacks of white napkins, two wooden chopsticks, a blue-and-white patterned paper plate, paper cups, and storage containers against a grey tiled wall with sockets, with a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves toward the wooden chopsticks on the white countertop, grasps one chopstick with its gripper, lifts it, moves right to position over the paper cup, and inserts the chopstick into the paper cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 515, "tasks": ["place utensil"], "length": 306, "global_instruction": "Place the thin wooden sticks on the counter into the open beige takeout container", "scene_description": "A white kitchen countertop holds a blue-and-white patterned paper bowl, an open beige takeout container with an orange ruler, metal spoon and small beige cube inside, a gray napkin holder with stacked white napkins, a white plate, stacked paper cups, a small beige open box, a yellow small block, and thin wooden sticks near the takeout container. The right robotic arm is positioned at the top right initially.", "global_instruction_dense": "The right robotic gripper moves toward thin wooden sticks on the counter, grasps each stick individually, moves each stick over the open beige takeout container, and releases both sticks into the container.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 516, "tasks": ["place utensil"], "length": 158, "global_instruction": "Place the utensil from the front blue-and-white bowl into the rear blue-and-white bowl.", "scene_description": "A silver and black Keurig coffee machine sits on a white kitchen countertop. A coffee pod rack is to the machine's left, two blue-and-white patterned bowls (the closer one holds a utensil in brown contents) are to its right, with a sink and grey tiled backsplash in the background.", "global_instruction_dense": "The right robotic arm enters the scene from the right, moves to the front blue-and-white patterned bowl, grasps the utensil inside it, lifts the utensil, moves it over the rear blue-and-white patterned bowl, and releases the utensil into the rear bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 517, "tasks": ["place utensil"], "length": 260, "global_instruction": "Move utensils between the two blue-and-white patterned paper bowls on the countertop.", "scene_description": "A silver and black Keurig coffee maker sits on a white kitchen countertop, with a stacked holder of K-cup coffee pods to its left, two blue-and-white patterned paper bowls to its right, and drinking cups near the sink area further right.", "global_instruction_dense": "The right robotic arm enters from the upper right, moves toward the paper bowls, grasps a dark utensil from one bowl, moves it to the adjacent bowl and releases it, then grasps a white utensil, moves it to the other bowl and releases it before lifting away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 518, "tasks": ["place utensil"], "length": 130, "global_instruction": "Pick up the white plastic stirring stick from the patterned paper plate and place it on the kitchen counter adjacent to the plate.", "scene_description": "A silver KEURIG coffee machine with an open lid sits on a white kitchen counter. To the left of the machine is a stacked rack of K-cup coffee pods, to the right is a blue and white patterned paper plate holding a white plastic stirring stick. A metal trash bin, wall power sockets, and a sink faucet are visible in the background.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, lowers toward the blue and white patterned paper plate, grasps the white plastic stirring stick resting on the plate, lifts the stick, moves it to the right of the plate, places it on the white kitchen counter, and then lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 519, "tasks": ["place utensil"], "length": 118, "global_instruction": "Place the white stir stick on the counter into the blue and white patterned dish.", "scene_description": "A white kitchen counter has a stacked K-cup pod holder on the left, a silver and black Keurig coffee machine at the center, a silver metal bin next to the machine, a small blue and white patterned dish to the right of the machine, with cups, a water bottle, and a faucet further right in the background.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, moves to grasp the white stir stick on the kitchen counter, lifts it, moves it over the small blue and white patterned dish, then releases the stir stick into the dish.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 520, "tasks": ["place utensil"], "length": 149, "global_instruction": "Place a plastic utensil from the white shallow dish onto the empty table area next to the white cup.", "scene_description": "A white table holds a small green potted plant, a dark snack packet, two blue-and-white patterned paper bowls, a white shallow dish with light plastic utensils, a white cup, and a red mug. A left robotic arm is positioned above the table near the patterned bowls.", "global_instruction_dense": "The left robotic arm moves toward the white shallow dish on the table, grasps a light plastic utensil from inside the dish, lifts it, moves it rightward to the empty table area next to the white cup, then lowers and releases the utensil onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 521, "tasks": ["place utensil"], "length": 153, "global_instruction": "Pick up the orange utensil from the open takeout container and place it on the silver storage container next to the coffee machine.", "scene_description": "A white kitchen counter against a grey tiled wall holds a silver and black Keurig coffee machine at center, a stack of K-cup pods in a black holder left of the machine, a silver square storage container right of the machine, an open white takeout box with an orange-red utensil inside next to the storage container, and a small white bowl with a utensil on top of the coffee machine.", "global_instruction_dense": "The right robotic gripper moves toward the orange-red utensil inside the open white takeout container on the kitchen counter, grasps the utensil, lifts it out of the container, moves it leftward over the silver square storage container next to the Keurig coffee machine, lowers it, and releases it to rest on top of the storage container.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 522, "tasks": ["place utensil"], "length": 111, "global_instruction": "Pick up the yellow sticky note and place it into the rectangular tray", "scene_description": "A white kitchen counter holds a stack of coffee pods on the left, a silver Keurig coffee machine in the center, a yellow sticky note to the right of the machine, and a rectangular tray further right near the sink area, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm reaches toward the yellow sticky note on the kitchen counter, grasps it, lifts it, moves it over the rectangular tray, and releases it into the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 523, "tasks": ["place utensil"], "length": 217, "global_instruction": "Pick up the white plastic utensil from the bowl and place it into the patterned paper cup", "scene_description": "A silver and black Keurig coffee machine is on a white kitchen countertop. A holder of stacked K-cup pods is to the machine's left, while a white patterned paper cup, a bowl with a white plastic utensil, a clear water bottle, and a sink with faucet are to the right.", "global_instruction_dense": "The right robotic gripper enters from the right side of the frame, moves toward the bowl holding the white utensil, grasps the utensil, lifts it out of the bowl, moves left over the white patterned paper cup, and releases the utensil into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 524, "tasks": ["place utensil"], "length": 136, "global_instruction": "Take the white stirring stick out of the paper cup and place it on the blue patterned paper plate.", "scene_description": "A white kitchen counter holds a silver and black Keurig coffee machine, a rack of K-cup coffee pods to the left of the machine, a white patterned paper cup with a white stirring stick inside to the right of the machine, blue patterned paper plates, a stainless steel container, and a sink with a faucet in the background.", "global_instruction_dense": "The right robotic arm moves toward the white stirring stick in the paper cup, grasps the stick, lifts it out of the cup, moves it right over the blue patterned paper plate, lowers it, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 525, "tasks": ["place utensil"], "length": 185, "global_instruction": "Place a utensil onto the small blue-and-white patterned paper plate on the kitchen counter.", "scene_description": "A silver and black Keurig coffee maker sits on a white kitchen countertop, with a stack of k-cup coffee pods to its left, a white patterned paper cup, white napkins, and blue-and-white patterned paper plates in front of it, and a sink area with a faucet and laptop in the background against a grey tiled wall.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, moves left toward the white patterned paper cup on the countertop, adjusts its position near the cup, then moves right toward the smaller blue-and-white patterned paper plate, lowers its gripper, releases the utensil onto the plate, and moves away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 526, "tasks": ["place utensil"], "length": 170, "global_instruction": "Move the light wooden stick on the table to a new position on the same table.", "scene_description": "A white table holds a printed white cup, an orange squeeze bottle, a blue bowl with a patterned insert, a light wooden stick, and a blue packaged item. A black-and-white chair sits to the left of the table, a dark padded booth is behind the table, and a second table with two small potted plants is in the distant background.", "global_instruction_dense": "The right robotic arm enters from the top of the frame, moves toward the light wooden stick on the white table, grasps the stick, moves it to a new position on the table surface, releases the stick, then retracts out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 527, "tasks": ["place utensil"], "length": 362, "global_instruction": "Separate the top yellow cup from its stack, then place the yellow scoop into the separated yellow cup.", "scene_description": "A dark granite kitchen counter holds a silver coffee machine on the left, a small purple bowl, a large purple plate, two orange cups, one purple cup, a stack of two yellow cups with a yellow scoop inside the upper yellow cup, and a wooden knife block near the back window.", "global_instruction_dense": "The right robotic gripper approaches the stacked yellow cups, grasps the top yellow cup, moves and places it next to the remaining lower yellow bowl, then grasps the yellow scoop from the bowl, moves it to the separated yellow cup, places the scoop inside the cup, and moves away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 528, "tasks": ["place utensil"], "length": 173, "global_instruction": "Place the metal utensil into the light-colored bowl on the table.", "scene_description": "A black checkered table sits next to a window with horizontal blinds. On the table are a roll of dark tape, blue plastic lid, metal stand, small green lid, light-colored empty bowl, clear food container with a green spoon, small bottles, stack of cards, and a Franka robotic arm on the right table edge.", "global_instruction_dense": "The right robotic arm extends leftward and downward toward the metal utensil on the left side of the table, grasps it, lifts it, moves it rightward over the light-colored bowl, lowers it into the bowl, and releases the utensil.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 529, "tasks": ["place utensil"], "length": 284, "global_instruction": "Place the metal utensil rack on the kitchen counter next to the orange cup.", "scene_description": "A dark kitchen counter holds a white deep sink; an orange-labeled hand soap bottle sits left of the sink. Above the sink, the windowsill has a white potted plant, a green-labeled liquid bottle, and a white candle. Right of the sink are a metal dish rack, an orange cup, and a green cup on the counter, with a right robotic arm positioned at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves downward to grasp the metal utensil rack, lifts it, transports it left over the counter next to the orange cup, lowers it, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 530, "tasks": ["place utensil"], "length": 289, "global_instruction": "Pick the green spatula from the dish rack and place it on the left side of the sink counter.", "scene_description": "A dark kitchen counter around a white sink: two soap bottles (one with orange label, one with green label) are left of the sink, a purple cup and yellow sponge in a metal rack are inside the sink. A window above the sill has a white potted plant and orange cup. A dish rack with a purple plate, blue cloth, and small yellow cup sit right of the sink, with a robotic arm above the right counter.", "global_instruction_dense": "The right robotic arm moves toward the dish rack at the right of the sink, grasps the green spatula inside the rack, lifts it, moves it left across the sink, then lowers and releases the spatula onto the left counter near the soap bottles.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 531, "tasks": ["place utensil"], "length": 402, "global_instruction": "Pick up the yellow utensil from the sink and place it on the left countertop beside the soap bottles.", "scene_description": "A white sink is set in a dark green kitchen countertop. Two soap bottles (one with an orange label, one with a green label) are to the left of the black faucet. A window above the sink has a white potted plant and orange cup on its sill, with dark curtains on either side. A dish rack with a purple item inside sits on the right counter next to a blue cloth. Inside the sink are a yellow sponge in a metal rack, an upside-down purple cup, and a yellow utensil at the bottom. A robotic arm is at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the black sink faucet to adjust its position, then descends into the sink to grasp the yellow utensil at the sink bottom, lifts the utensil out of the sink, moves it leftward to the counter next to the soap bottles, releases the utensil onto the counter, and moves upward away from the sink area.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 532, "tasks": ["place utensil"], "length": 179, "global_instruction": "Pick up the yellow stick from the gray dish and place it on the white paper on the right side of the table.", "scene_description": "A black table holds various items: a yellow stick in a gray dish, a red snack bowl, a clear plastic food container, a white cleaning brush, stacked white napkins, an orange cartoon-faced box, small jars, papers, and a baked good on a napkin. Bamboo blinds cover the window behind the table, with wooden flooring to the left.", "global_instruction_dense": "The right robotic arm descends toward the yellow stick in the gray dish, grasps the stick, lifts it, moves it right to the white paper on the table, lowers it, and releases it onto the paper.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 533, "tasks": ["place utensil"], "length": 308, "global_instruction": "Pick up the yellow utensil from the sink drain and place it on the sink basin floor.", "scene_description": "A light beige kitchen sink sits on a dark green countertop. Left of the sink are a blue striped mat, an orange dish, and a peach-colored liquid soap pump. Inside the sink are a metal caddy with a yellow sponge, a pink round lid, and sink drains. Behind the sink, a windowsill holds a white potted plant with white flowers and a green liquid soap bottle with a white pump. Dark curtains are to the left of the window, a dish rack is to the right of the sink, and a robotic arm is partially visible at the upper right edge.", "global_instruction_dense": "The right robotic arm moves down from the upper right toward the sink, lowers into the sink to grasp the yellow utensil at the drain, lifts and adjusts the utensil, releases it onto the sink basin surface, then retracts upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 534, "tasks": ["place utensil"], "length": 279, "global_instruction": "Pick up the red spatula from the frying pan and place it onto the stovetop.", "scene_description": "A dark kitchen counter holds a white bottle on the left, a black frying pan with a red spatula inside, a small orange container next to the pan, small seasoning containers on the right, a glass lid on the stovetop below the counter, and a robotic arm at the right side of the frame.", "global_instruction_dense": "The right robotic arm moves toward the red spatula inside the frying pan on the kitchen counter, grasps the spatula, lifts it out of the pan, moves it down toward the stovetop, and places it on the stovetop near the glass lid.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 535, "tasks": ["place utensil"], "length": 213, "global_instruction": "Place utensils from the open kitchen drawer onto the adjacent countertop", "scene_description": "An open kitchen drawer filled with utensils sits below a dark granite countertop. On the countertop, red lidded containers are on the left, with a folded gray cloth, paper, knife block, and spice containers near a window.", "global_instruction_dense": "The right robotic arm moves toward the open utensil drawer, lowers into the drawer to grasp utensils, lifts the utensils out of the drawer, moves them over the countertop, and releases them onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 536, "tasks": ["place utensil"], "length": 230, "global_instruction": "Take a black slotted spatula from the open kitchen drawer and place it on the kitchen countertop.", "scene_description": "A dark green kitchen countertop is next to an open lower drawer with assorted kitchen utensils. On the counter, red-lidded containers, metal spoons, a folded light gray cloth, a spice shaker, a metal spice rack, and a wooden knife block with black knives sit near a double window, with a robotic arm in the right background.", "global_instruction_dense": "The right robotic arm moves toward the open kitchen utensil drawer, grasps a black slotted spatula from the drawer, lifts the spatula out of the drawer, moves it over the kitchen counter, and releases the spatula onto the countertop near the folded gray cloth.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 537, "tasks": ["place utensil"], "length": 195, "global_instruction": "Take a wooden cooking utensil from the open drawer and place it on the kitchen countertop.", "scene_description": "A dark green kitchen countertop holds a toaster, silver coffee maker, orange cup, red lid, clear plastic container, and knife block. An open wooden drawer under the counter is filled with assorted kitchen utensils, and a window with dark curtains is in the background.", "global_instruction_dense": "The right robotic arm moves toward the open under-counter drawer, grasps a wooden-handled cooking utensil from the drawer, lifts the utensil out, moves it over the countertop, places it on the counter surface, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 538, "tasks": ["place utensil"], "length": 184, "global_instruction": "Pick a metal utensil from the open drawer and place it on the kitchen counter.", "scene_description": "A kitchen features a dark green marble countertop, an open lower drawer filled with assorted kitchen utensils, a toaster, coffee maker, orange cup, red lid, and other items on the counter, with a window and dark curtains in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the open utensil drawer, grasps a metal utensil inside the drawer, lifts it upward, moves it over the kitchen counter, releases it onto the counter surface, then moves away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 539, "tasks": ["place utensil"], "length": 197, "global_instruction": "Pick the spatula from the kitchen counter and place it into the open utensil drawer", "scene_description": "A dark green kitchen counter holds a silver toaster, silver coffee maker, orange-yellow cup, plastic container, red cloth, and white cloth on its left side. An open drawer filled with kitchen utensils sits under the counter, with a robotic arm positioned above the counter's right side.", "global_instruction_dense": "The right robotic arm moves downward toward the spatula on the kitchen counter, grasps it, lifts it, moves it over the open utensil drawer, lowers it, releases it into the drawer, then retracts upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 540, "tasks": ["place utensil"], "length": 169, "global_instruction": "Place the slotted metal spatula from the kitchen counter into the open utensil drawer under the counter.", "scene_description": "A dark green kitchen counter with an open lower wooden drawer holding various kitchen utensils, a toaster, coffee maker, orange plastic cup, and small containers on the counter surface, with a window above the counter in the background.", "global_instruction_dense": "The right robotic gripper moves into the frame, approaches the slotted metal spatula on the kitchen counter, grasps it, moves it over the open wooden utensil drawer below the counter, lowers it into the drawer, releases the spatula, then retracts out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 541, "tasks": ["place utensil"], "length": 569, "global_instruction": "Pick up the metal utensil from the middle shelf of the cream cabinet and place it on the yellow plate on the cabinet's top surface.", "scene_description": "A cream-colored 3-tier decorative cabinet stands left of center, with a black smartphone and gray remote on its middle shelf, black remote on its lowest shelf, and a red container, rectangular box, and yellow plate holding a small black object on its top surface. A white robotic arm with black joints is positioned on a right-side workbench with green indicator lights, a black coffee table with small items sits in front of the cabinet, a green couch is on the far left, and glass sliding doors are in the background.", "global_instruction_dense": "The right robotic arm moves leftward toward the middle shelf of the cream cabinet, grasps the metal utensil with its gripper, lifts the utensil upward, moves it over the cabinet's top surface, positions it above the yellow plate, and releases the utensil onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 542, "tasks": ["place utensil"], "length": 570, "global_instruction": "Place kitchen utensils into the silver cylindrical cutlery holder on the countertop.", "scene_description": "A red watering can spout is at the lower left of a dark green kitchen countertop, a light gray textured mat sits on the countertop, a silver cylindrical cutlery holder is positioned behind the mat, a white robotic arm with black clamps is at the upper right of the frame, and dark blue curtains are to the left of the counter.", "global_instruction_dense": "The right robotic arm grasps kitchen utensils one at a time, lifts each utensil, moves it over the silver cylindrical cutlery holder behind the gray mat, and inserts each utensil into the holder.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 543, "tasks": ["place utensil"], "length": 255, "global_instruction": "Grasp the blue straw from the white cup and place it on the black table", "scene_description": "A black table holds a clear container of light food, empty clear container, wooden spoon on a white napkin, metal chopsticks, grey tissue box, white cup with a blue straw, tall translucent cup, purple plate, small red food container, silver bowl, and a black trash bin with white liner behind it. A brown wall with light framed artwork is behind the table, wooden floor is visible to the right, no robotic arm is present initially.", "global_instruction_dense": "The right robotic arm enters the frame from the top, moves down to grasp the blue straw in the white cup on the black table, lifts the straw out of the cup, moves it rightward over the table, and releases it onto the table next to the tissue box.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 544, "tasks": ["place utensil"], "length": 270, "global_instruction": "Remove the blue straw from the small white cup and place it on the table.", "scene_description": "A black table holds a plastic container of light grain, an empty clear plastic container, a wooden spoon on a white napkin, a patterned tissue box, a small white cup with a blue straw, a purple plate, a small dish of orange food with a spoon, and a black trash bin at the table's rear. A brown wall with a framed artwork hangs above the table, and a robotic arm is positioned above the trash bin.", "global_instruction_dense": "The right robotic arm moves from above the trash bin toward the small white cup on the table, grasps the blue straw inside the cup, lifts the straw out of the cup, moves it over the table surface, lowers and releases it onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 545, "tasks": ["place utensil"], "length": 1022, "global_instruction": "Pick up the metal tongs, adjust their position over the table, then place them back on the black table.", "scene_description": "A black table holds a clear plastic container of white food, an empty clear plastic container, a grey patterned tissue box, a wooden spoon resting on a white napkin, a purple plate with small food items, a small beige cup, a tall clear plastic cup, a metal spoon, a grey-lined trash bin at the table's back edge, and a white robotic arm positioned above the trash bin at the table's right side.", "global_instruction_dense": "The right robotic gripper moves down from its initial position above the trash bin, grasps the metal tongs on the right of the black table, lifts and repeatedly adjusts their position over the purple plate and table surface, lowers the tongs back to the table and releases them, then lifts upward to reset to a raised position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 546, "tasks": ["place utensil"], "length": 355, "global_instruction": "Pick up the silver metal tongs on the black table and place them into the clear square plastic container.", "scene_description": "A black table holds a gray patterned tissue box, clear square plastic container, wooden spoon resting on a white napkin, tall translucent cup, small white cup on a purple saucer, silver metal tongs, small metal bowl, and crumpled white napkin. A black trash bin with a white plastic liner sits against the brown wall behind the table, below a light-colored framed artwork.", "global_instruction_dense": "The right robotic arm moves toward the silver metal tongs on the right side of the black table, grasps them, lifts them, moves left over the clear square plastic container, lowers them, and releases them into the container.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 547, "tasks": ["place utensil"], "length": 224, "global_instruction": "Pick up the blue straw on the black table and place it into the clear plastic container.", "scene_description": "A black table holds a wooden spoon on a white napkin, metal tongs on a clear plastic container, a grey tissue box, a clear plastic cup, a crumpled white napkin, a beige mug on a purple saucer, and a metal spoon beside the saucer. A black trash can sits against a brown wall below a white framed artwork, and a robotic arm is positioned at the top right of the scene.", "global_instruction_dense": "The right robotic arm moves downward toward the blue straw near the beige mug on the table, grasps the straw with its gripper, lifts it, moves left over the clear plastic container, and releases the straw into the container.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 548, "tasks": ["place utensil"], "length": 234, "global_instruction": "Pick up the metal tongs from the table and reposition them on the left side of the table.", "scene_description": "A black tabletop holds a wooden spoon on white napkins, metal tongs resting on a black brush, a clear plastic bowl, two gray cups, a grain container, and crumpled paper. A black trash bin stands against a brown wall under a poster, near a doorway.", "global_instruction_dense": "The right robotic arm descends to the black table, grasps the metal tongs resting on a brush, lifts the tongs, moves it leftward, places it in a new position on the table, then moves toward the brush.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 549, "tasks": ["place utensil"], "length": 210, "global_instruction": "Pick up the blue straw from the purple plate and place it into the gray cup", "scene_description": "A black tabletop holds a purple plate with a blue straw and small candy items, a clear square container of light-colored food, a small plastic bowl with a wooden spoon, a gray utensil holder with two black tools, a gray cup, and a white napkin. A robotic arm system is positioned to the right of the table, with a trash bin behind the table.", "global_instruction_dense": "The left robotic arm lowers toward the purple plate, grasps the blue straw on the plate, lifts the straw, moves it left toward the gray cup, inserts the straw into the cup, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 550, "tasks": ["place utensil"], "length": 212, "global_instruction": "Pick up the two black utensils from the tissue stack and place them on the black table.", "scene_description": "A black table holds a gray tissue stack, black plastic fork, black rake-style utensil, clear drinking cup, square clear food container, purple plate with small food pieces, and small plastic bag. A trash bin is behind the table, and a robotic arm setup is positioned to the table's right.", "global_instruction_dense": "The left robotic arm moves toward the two black utensils resting on the gray tissue stack, grasps them, lifts and moves them rightward over the table, then lowers and places them onto the black table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 551, "tasks": ["place utensil"], "length": 401, "global_instruction": "Pick up the wooden chopstick from the table, tap it over the trash bin, then place it back on the table.", "scene_description": "A black table holds a light brown wooden chopstick, clear plastic cup, patterned tissue box, popcorn-filled square container, small silver metal bowl, clear plastic container, purple plate with food pieces, and metal tong, with a black trash bin with white liner behind the table and a robotic arm to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the wooden chopstick on the black table, grasps it with its gripper, lifts it over the black trash bin behind the table, taps the chopstick against the trash bin edge repeatedly, then moves the chopstick back to the table and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 552, "tasks": ["place utensil"], "length": 324, "global_instruction": "Place the metal utensils from the black plate into the grey lidded cooking pot.", "scene_description": "A grey lidded cooking pot, black plate holding metal utensils, and green plate are placed on the top of a white washing machine. A metal wall shelf on the left holds a white spray bottle and other small items, and a right robotic arm is positioned at the right edge of the scene.", "global_instruction_dense": "The right robotic arm moves toward the black plate on the washing machine top, grasps metal utensils from the plate one by one, lifts each utensil, moves it over the grey lidded pot, releases it into the pot, and finally returns to its initial resting position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 553, "tasks": ["place utensil"], "length": 231, "global_instruction": "Place silver utensils from the black frying pan onto the adjacent white washing machine surface.", "scene_description": "A black frying pan holding silver utensils, a gray lidded pot, and a blue labeled box rest on a white washing machine top. A left wall wire shelf holds various containers, and a robotic arm is positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves down to the black frying pan, grasps a silver utensil inside it, lifts the utensil out, moves it to the side of the pan, releases it onto the white washing machine surface, then moves back toward the pan to grasp another utensil.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 554, "tasks": ["place utensil"], "length": 200, "global_instruction": "Place a metal utensil into the black frying pan on the white laundry machine surface.", "scene_description": "A white laundry machine surface holds a black frying pan, a black pot with a green lid, and metal utensils, with a right robotic arm positioned to the right of the surface, and wall-mounted shelves with assorted items on the left.", "global_instruction_dense": "The right robotic arm moves toward the metal utensils on the white laundry machine surface, grasps one metal utensil, lifts it, moves it over the black frying pan, and releases it into the frying pan.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 555, "tasks": ["place utensil"], "length": 266, "global_instruction": "Pick up the black ladle from the wall shelf and place it into the black saucepan on the washing machine.", "scene_description": "A black shallow ladle rests on a wall-mounted metal shelf above a white washing machine that holds a black saucepan, silver utensils, and a green circular component. A white spray bottle, dark can, and small containers are also on the shelf, with two robotic arms positioned to the right of the washing machine.", "global_instruction_dense": "The left robotic arm moves upward toward the black ladle on the wall-mounted metal shelf, grasps the ladle with its gripper, lifts it, moves it downward over the black saucepan on the white washing machine, and releases the ladle to drop it into the saucepan.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 556, "tasks": ["place utensil"], "length": 241, "global_instruction": "Place a metal utensil from the brown wire basket into the black pot on the left laundry machine.", "scene_description": "Two adjacent white laundry machines sit under a metal wire shelf holding various containers. The left machine has a green lid, a black pot with utensils, and a small black cylinder on its surface. The right machine has a brown wire basket, a blue box beside the basket, and a pink item next to the basket. A right robotic arm is positioned above the right machine.", "global_instruction_dense": "The right robotic arm moves down to the brown wire basket on the right laundry machine, grasps a metal utensil, lifts it, moves it left over the black pot on the left laundry machine, and releases the utensil into the pot.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 557, "tasks": ["place utensil"], "length": 493, "global_instruction": "Move blue plastic scoops from the washing machine top into the open blue cardboard box, then return them to the washing machine top.", "scene_description": "An open blue cardboard box, a green circular flat object, and two blue plastic scoops are placed on top of a white washing machine, with a right robotic arm positioned near the box.", "global_instruction_dense": "The right robotic arm grasps a blue plastic scoop from the washing machine top, lifts it, places it into the open blue cardboard box, then grasps a blue scoop from inside the box, lifts it out, and places it back onto the washing machine top.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 558, "tasks": ["place utensil"], "length": 409, "global_instruction": "Place both blue plastic scoops into the open blue cardboard box on the washing machine.", "scene_description": "A white washing machine surface holds an open blue cardboard box, two blue plastic scoops, and a green circular disk. A wall shelf above holds a white spray bottle and frying pan, with a right robotic arm positioned above the washing machine.", "global_instruction_dense": "The right robotic arm grasps one blue scoop on the washing machine surface, lifts and places it into the open blue box, then grasps the remaining blue scoop, lifts it, and places it into the open blue box.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 559, "tasks": ["place utensil"], "length": 313, "global_instruction": "Place the light blue measuring scoop from the laundry machine onto the upper metal shelf.", "scene_description": "A white laundry machine has an orange and blue Tide detergent box, a green circular disc, and two light blue measuring scoops on its top surface, with a metal shelf holding bottles and cookware above it, and a robotic arm positioned to the right of the machine.", "global_instruction_dense": "The right robotic gripper moves toward the light blue measuring scoop on the laundry machine, grasps it, lifts it to the height of the upper metal shelf, moves it over the shelf, lowers and releases it onto the shelf, then moves away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 560, "tasks": ["place utensil"], "length": 485, "global_instruction": "Place the blue plastic scoop from the washer countertop onto the upper metal wire shelf.", "scene_description": "A white washer countertop holds a dark green circular lid, a translucent blue plastic scoop, and an orange-blue Tide laundry pod box. A metal wire shelf above the counter holds a white spray bottle, small red box, and black pan, with a robotic arm above the counter.", "global_instruction_dense": "The left robotic gripper grasps the translucent blue plastic scoop on the washer countertop, lifts it upward, moves it over the upper metal wire shelf, and releases it to place the scoop on the shelf.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 561, "tasks": ["place utensil"], "length": 709, "global_instruction": "Place the small utensils on the washing machine top into the open Tide laundry detergent box.", "scene_description": "A white washing machine has an open orange-and-blue Tide laundry detergent box, two small blue measuring cups, and several small metal utensils on its top. A metal shelf above holds a white spray bottle, a red-and-white box, and a white jar, with a robotic arm positioned to the right of the washing machine.", "global_instruction_dense": "The right robotic arm grasps each small utensil from the washing machine top one by one, lifts each utensil, moves it over the open Tide laundry detergent box, and drops it into the box until all utensils are placed inside.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 562, "tasks": ["place utensil"], "length": 533, "global_instruction": "Move the orange handled scoop between the two blue measuring cups on the washing machine top.", "scene_description": "The top of a white washing machine holds an orange and blue Tide box, a green circular dish, a metal spoon, an orange handled scoop, and two blue translucent measuring cups. A metal shelf with assorted containers is mounted on the wall behind, and a glass exterior door is to the left.", "global_instruction_dense": "The right robotic gripper first adjusts a small blue measuring cup, then grasps the orange handled scoop, places it into the small blue measuring cup, moves it to the larger blue measuring cup, and finally places it back on the washing machine surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 563, "tasks": ["place utensil"], "length": 361, "global_instruction": "Place the white measuring cup, silver spoon, and orange spoon from the washing machine top into the brown divided tray.", "scene_description": "A white washing machine top holds a white plastic measuring cup, a green long stick, a silver metal spoon, an orange plastic spoon, a brown divided organizer tray, an orange Tide detergent box, and a blue box. A wire wall shelf above holds small containers and a green brush, with a right robotic gripper near the Tide box initially.", "global_instruction_dense": "The right robotic gripper grasps the white measuring cup, lifts and places it into the brown tray, then grasps the silver spoon, lifts and places it into the tray, then grasps the orange spoon, lifts and places it into the tray to complete the task.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 564, "tasks": ["place utensil"], "length": 424, "global_instruction": "Take the orange scoop from the brown tray and place it on the white surface next to the green pen.", "scene_description": "A brown wooden tray holding an orange scoop sits on a white household appliance surface, a green pen is placed to the left of the tray, and a robotic arm is positioned above the tray with wall shelves holding assorted items in the background.", "global_instruction_dense": "The right robotic arm moves down toward the orange scoop in the brown tray, grasps the scoop, lifts it out of the tray, moves it left onto the white surface next to the green pen, lowers it, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 565, "tasks": ["place utensil"], "length": 149, "global_instruction": "Move the red straw from the translucent white cup into the black bucket using a badminton racket.", "scene_description": "A black table holds a black bucket, a translucent white cup with a red straw inside, white cloths, a silver scoop, and food packages. A robotic arm holding a badminton racket is in the upper right, with a living room (brick fireplace, light sofa, chairs) in the background.", "global_instruction_dense": "The robotic arm holding a badminton racket moves toward the translucent white cup, hits the red straw inside the cup to launch it, and moves the racket away as the red straw lands in the black bucket on the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 566, "tasks": ["place utensil"], "length": 270, "global_instruction": "Place the silver slotted spatula on the table into the black bucket.", "scene_description": "A black table holds a silver slotted spatula, a gray cloth, a black bucket, and assorted small items, with a right robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves down toward the silver slotted spatula on the black table, grasps it, lifts it, moves it over the black bucket, releases it into the bucket, then moves back above the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 567, "tasks": ["place utensil"], "length": 212, "global_instruction": "Pick up the silver slotted spatula and place it into the tall black cylindrical container.", "scene_description": "A black tabletop holds a silver slotted spatula, red tongs, a tall black cylindrical container, and a translucent plastic bag with blue contents, with a living room (couch, brick fireplace) in the background.", "global_instruction_dense": "The left robotic gripper moves toward the silver slotted spatula on the black table, grasps it, lifts it, moves it over the tall black cylindrical container, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 568, "tasks": ["place utensil"], "length": 382, "global_instruction": "Place the metal fork and spoon on the black table into the clear empty glass.", "scene_description": "A black table holds a white checkered cloth on its left side, a clear empty glass, a metal fork, a metal spoon, a small green square object, and a dark green mug with a green interior, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves down to grasp the metal fork on the table, lifts it, moves it over the clear glass, drops it into the glass, then moves to grasp the metal spoon, lifts it, moves it over the glass, drops it into the glass, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 569, "tasks": ["place utensil"], "length": 407, "global_instruction": "Remove the metal utensils from the clear glass and place them on the black table.", "scene_description": "A black table is against a white wall. On the table, from left to right: a white checkered cloth, a clear glass holding two metal utensils, a small square green object, and a dark green mug. Two robotic arms are mounted to the right of the table.", "global_instruction_dense": "The left robotic gripper moves to the clear glass, grasps a metal fork, lifts it out, places and releases it on the table, then moves back to the glass, grasps a metal spoon, lifts it out, and places and releases it on the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 570, "tasks": ["place utensil"], "length": 463, "global_instruction": "Place the metal spoon and metal fork from the table into the clear glass.", "scene_description": "A black table against a white wall holds a folded white checkered cloth, clear short glass, metal spoon, metal fork, small green square object, and dark mug with a green interior. A Franka robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The left robotic arm moves down to grasp the metal spoon, lifts and moves it over the clear glass before releasing it into the glass, then moves to grasp the metal fork, lifts and moves it over the glass, and releases it into the glass.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 571, "tasks": ["place utensil"], "length": 387, "global_instruction": "Place silver utensils onto the gray square placemat on the black table.", "scene_description": "A black table against a white wall holds a white checkered cloth on the left, a small green round object, a clear glass tumbler, and two gray square placemats, with a robotic gripper positioned above the table.", "global_instruction_dense": "The right robotic arm grasps a silver spoon, moves it onto the gray placemat and releases it, then grasps a silver fork, moves it onto the same gray placemat and releases it next to the spoon.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 572, "tasks": ["place utensil"], "length": 385, "global_instruction": "Pick the fork and spoon from the green utensil holder and place them on the black table.", "scene_description": "A black table against a light-colored wall holds a yellow packaged snack, an open orange can, a checkered cloth, a grey quilted mat, a green utensil holder with silver utensils, a small glass jar, and a round wooden coaster, with a white robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the green utensil holder on the black table, grasps a fork, lifts it, moves it over the table and releases it onto the surface, then returns to the holder, grasps a spoon, lifts it, moves it over the table, and releases it next to the fork.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 573, "tasks": ["place utensil"], "length": 107, "global_instruction": "Pick a utensil from the grey plastic container and place it back into the container.", "scene_description": "A black table against a light wall holds a white checkered cloth, yellow-edged packet, clear glass, open yellow can, grey plastic utensil container, grey pad, with a robotic arm to the right of the table.", "global_instruction_dense": "The right robotic arm moves down toward the grey plastic utensil container on the table, grasps a utensil inside it, lifts the utensil up, then lowers it back into the container and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 574, "tasks": ["place utensil"], "length": 133, "global_instruction": "Pick a utensil from the gray container and place it on the gray table mat.", "scene_description": "A black table against a light wall holds an orange-edged instruction card, white checkered cloth, clear glass, gray utensil container, yellow can with dark liquid, and gray mat. A white robotic arm base with green lights is to the table's right, with a white door in the background.", "global_instruction_dense": "The left robotic arm moves toward the gray utensil container on the black table, lowers its gripper to grasp a utensil inside the container, lifts the utensil, moves it over the gray table mat, and releases it onto the mat.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 575, "tasks": ["place utensil"], "length": 137, "global_instruction": "Grasp a utensil from the grey measuring cup and place it on the grey flat pad on the table.", "scene_description": "A black table against a pale wall holds an orange-edged packet, white grid-patterned cloth, empty clear glass, grey plastic measuring cup with utensils inside, small yellow can with dark contents, and a grey flat pad. A white robotic arm base with green indicator lights is to the right of the table, with the left robotic arm positioned above the table near the measuring cup.", "global_instruction_dense": "The left robotic arm moves toward the grey measuring cup on the black table, grasps a utensil inside the cup, lifts it out, moves it over the adjacent grey flat pad, lowers it, and releases it onto the pad.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 576, "tasks": ["place utensil"], "length": 392, "global_instruction": "Place all small dark utensils next to the orange food packet into the clear plastic pitcher on the table.", "scene_description": "A black table sits against a light-colored wall, holding a white checkered cloth, a clear empty glass, a yellow open can with dark liquid, a clear plastic pitcher, an orange packaged food bag, a gray flat spatula, and a transparent plastic lid near the table's far edge. A white robotic arm with black and orange accents is positioned to the right of the table, with its gripper facing the table items.", "global_instruction_dense": "The right robotic arm repeatedly moves to the small dark utensils next to the orange food packet on the table, grasps each utensil individually, lifts it, moves over the clear plastic pitcher, and releases the utensil into the pitcher until all utensils are placed inside.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 577, "tasks": ["place utensil"], "length": 241, "global_instruction": "Retrieve a metal utensil from the brown striped bowl and place it on the gray counter mat.", "scene_description": "A black kitchen countertop holds a brown striped wooden bowl at its rear, a yellow soda can, a clear glass with a metal spoon, a dark green mug, a yellow-bordered paper stand, a small white plastic piece, and a folded light blue checkered cloth, all atop a gray fabric mat. A white robotic arm is positioned to the right of the counter, and a white sink is to the left of the counter.", "global_instruction_dense": "The right robotic arm moves downward into the brown striped wooden bowl, grasps a metal utensil, lifts it out of the bowl, moves leftward over the gray fabric mat on the counter, lowers the utensil, and releases it onto the mat.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 578, "tasks": ["place utensil"], "length": 560, "global_instruction": "Take utensils out of the clear plastic bag and place them on the wooden table.", "scene_description": "A wooden table holds a silver electric kettle at the front center, a dark wire basket on the left, a clear plastic bag with utensils behind the kettle, and a light blue glass cup behind the plastic bag, with the left robotic gripper positioned above the plastic bag.", "global_instruction_dense": "The left robotic gripper holds the edge of the clear plastic bag to open it, grasps a thin utensil from inside the bag, lifts it out of the bag, moves it over the wooden table, places it on the table, then moves back toward the bag to grasp a utensil.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 579, "tasks": ["place utensil"], "length": 507, "global_instruction": "Grasp, reposition, and place the thin white stick back on the wooden table.", "scene_description": "A light brown wooden table holds a metallic silver toaster with a green indicator light on its left area, small metal tongs near the back, a thin white stick at its center, and a right robotic arm positioned above the table, with a coat hanging on a wall hook in the dim background.", "global_instruction_dense": "The right robotic arm moves downward toward the thin white stick on the wooden table, grasps the stick, lifts and moves it across the table to reposition it, then places the stick back on the table surface and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 580, "tasks": ["place utensil"], "length": 522, "global_instruction": "Pick up the small metal tongs on the kitchen counter and move them to different positions on the counter surface.", "scene_description": "A silver toaster, a crumpled clear plastic bag, a roll of teal tape, and a pair of small metal tongs are arranged on a wooden kitchen counter, with a right robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the small metal tongs resting on the wooden kitchen counter, grasps the tongs with its end gripper, lifts the tongs, moves them to multiple positions across the counter surface, and adjusts their placement repeatedly.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 581, "tasks": ["place utensil"], "length": 337, "global_instruction": "Place the black cooking utensil into the frying pan on the gas stove.", "scene_description": "A white gas stove in a kitchen has a dark gray frying pan on the front left burner, a dark pot on the back right burner, a gray square pot holder on the front right burner, a yellow and silver can, an orange and white package, and a small spice bottle on its surface. A small table with a zebra-patterned bowl and black mug sits behind the stove.", "global_instruction_dense": "The right robotic arm first moves to the gray square pot holder on the stove's front right burner, grasps and lifts it, moves it to the left upper area of the stove and places it down, then moves to grasp a black cooking utensil, moves it over the front left frying pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 582, "tasks": ["place utensil"], "length": 301, "global_instruction": "Move the canned drink and silver utensil from the front frying pan into the rear black pot on the stove.", "scene_description": "A white gas stove is in a kitchen. A black frying pan rests on the left front burner, holding a yellow-and-blue canned drink and a silver utensil. An orange-labeled open can sits on the stovetop to the right of the frying pan. Additional cookware (a black pot, a lidded pan) are positioned at the rear of the stove, with a small table holding a zebra-patterned bowl behind the stove, and tiled flooring visible to the stove's right.", "global_instruction_dense": "The right robotic gripper grasps the yellow-and-blue canned drink from the front frying pan, lifts it, moves it backward to the rear black pot, releases it into the pot, then returns to the front pan, grasps the silver utensil inside, lifts it, moves it to the rear pot, releases it into the pot, and moves upward away from the stove.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 583, "tasks": ["place utensil"], "length": 168, "global_instruction": "Move a cooking utensil over the rear of the white gas stove repeatedly.", "scene_description": "A white gas stove holds a dark frying pan on its front left burner, a checkered cloth with a wooden utensil and yellow packet to the pan's left, a small dark cup behind the pan, and a dark pot on its back right burner. A green-lit device sits on a wooden counter to the stove's right, with tiled flooring and distant furniture in the background.", "global_instruction_dense": "The right robotic arm moves down toward the rear of the white gas stove, holds a cooking utensil over the back burner area, lifts and moves away briefly, then moves back toward the rear of the stove.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 584, "tasks": ["place utensil"], "length": 268, "global_instruction": "Place the metallic kitchen utensil into the top holder of the metal spice rack on the wooden table.", "scene_description": "A large translucent white measuring cup sits in the foreground of a wooden table, with a metal rotating spice rack, red-capped spice container, small metal bowl, dark-capped glass jar, and metal fork behind it. A machine with green lights is to the right of the table, and a curtained doorway with a laundry basket is in the background.", "global_instruction_dense": "The right robotic gripper enters the scene from the upper left holding a metallic utensil, lowers it toward the metal spice rack on the wooden table, inserts the utensil into the rack's top holder, then retracts upward and exits the scene.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 585, "tasks": ["place utensil"], "length": 257, "global_instruction": "Place a small metal utensil into the white measuring cup on the kitchen counter.", "scene_description": "A wooden kitchen counter holds a central white plastic measuring cup, metal measuring tools to its left, a metal rotating spice rack behind the cup, a red-capped spice jar to the cup's right, and a green-lit FRANKE machine on the counter's right edge, with a tiled doorway in the background.", "global_instruction_dense": "The right robotic gripper moves downward behind the white measuring cup on the wooden counter, grasps a small metal utensil, lifts it, moves it over the measuring cup, lowers it into the cup, then retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 586, "tasks": ["place utensil"], "length": 173, "global_instruction": "Pick a wooden stir stick from the organizer and place it on the countertop", "scene_description": "A wooden multi-compartment organizer holding various colored small packets and paper supplies sits on a white countertop, with a stack of printed paper cups and a coffee machine in the background.", "global_instruction_dense": "The right robotic arm moves toward the top compartment of the wooden organizer, grasps a thin wooden stir stick, moves the stick over the white countertop, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 587, "tasks": ["place utensil"], "length": 237, "global_instruction": "Place the wooden stick on the counter into the top left empty compartment of the wooden organizer.", "scene_description": "A white countertop holds a multi-compartment wooden organizer with assorted tea sachets and paper goods on the left, a stack of white printed disposable cups to the organizer's right, and a thin wooden stick lying on the counter right of the organizer, with no robotic arm visible in the initial frame.", "global_instruction_dense": "The right robotic arm moves toward the wooden stick on the white counter, grasps it with its gripper, lifts it, moves it over the top left empty compartment of the wooden organizer, lowers it, and releases it into the compartment.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 588, "tasks": ["place utensil"], "length": 356, "global_instruction": "Pick a brown stir stick from the wooden organizer and place it on the white countertop", "scene_description": "A white countertop holds a wooden multi-slot organizer (with brown stir sticks, yellow and red packaged items in its compartments), a clear tea packet container, a small wooden packet box, a stack of printed paper cups, and a coffee machine. The robotic gripper is at the right edge of the frame initially.", "global_instruction_dense": "The right robotic gripper moves left toward the wooden organizer's top left compartment, grasps a brown stir stick, lifts it, moves rightward across the counter, and releases the stir stick onto the white countertop.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 589, "tasks": ["place utensil"], "length": 281, "global_instruction": "Place the wooden chopstick on the counter into the wooden utensil slot of the organizer.", "scene_description": "A white countertop holds a multi-compartment wooden organizer with paper straws and assorted packets, a small wooden box of white packets, a single light brown wooden chopstick, a stack of printed paper cups, and a coffee machine in the background. A right robotic gripper is at the upper right of the frame.", "global_instruction_dense": "Right robotic gripper moves down toward the light brown wooden chopstick on the counter, grasps it, lifts and moves it to the wooden organizer's utensil slot, places the chopstick into the slot, then retracts away from the organizer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 590, "tasks": ["place utensil"], "length": 223, "global_instruction": "Place a wooden stir stick from the organizer into the white paper cup on the countertop.", "scene_description": "A wooden multi-compartment organizer holding assorted sachets, wooden stir sticks, and white straws with a single red accent straw sits on a white countertop. A printed white paper cup is to the organizer's right, stacked paper cups are behind the single cup, and a right robotic gripper is at the right edge of the frame.", "global_instruction_dense": "The right robotic gripper moves left from its initial position near the cup toward the wooden organizer, grasps a wooden stir stick from one of the organizer's lower compartments, lifts the stir stick, moves it right over to the single white paper cup, lowers the stir stick into the cup, releases the stir stick, then moves away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 591, "tasks": ["place utensil"], "length": 177, "global_instruction": "Pick a yellow packaged stick from the wooden organizer and place it on the white countertop.", "scene_description": "A wooden multi-compartment organizer holding various items (paper bags with a red straw, brown utensils, silver sachets, yellow packaged sticks, red packages) sits on a white countertop. A stack of printed paper cups and a coffee machine are positioned to the organizer's right, with a robotic arm in the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the top-right compartment of the wooden organizer holding yellow packaged sticks, grasps one yellow packaged stick, lifts it, moves rightward over the empty countertop space, lowers the stick, releases it onto the countertop, and moves upward away from the placed stick.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 592, "tasks": ["place utensil"], "length": 131, "global_instruction": "Place the light blue scoop from the blue bowl into the empty light beige square wooden box", "scene_description": "A dark round wooden table is next to a window. On the table: a white patterned paper cup, a green potted plant in a white pot, an empty light beige square wooden box, a blue bowl with colorful small beads and a light blue scoop inside, a small orange block, a thin light wooden stick, and a small metallic bottle with a brown cap. A light blue chair is to the right of the table, with a robotic arm at the right frame edge.", "global_instruction_dense": "The right robotic arm moves toward the blue bowl on the table, grasps the light blue scoop inside the bowl, lifts the scoop, moves it over the empty light beige square wooden box, and releases the scoop into the box.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 593, "tasks": ["place utensil"], "length": 265, "global_instruction": "Pick up the light blue measuring scoop and place it next to the blue bowl of multicolored beads.", "scene_description": "A round dark wooden table next to a window holds a white empty open box, a glass jar, a small green block, a small red block, a potted plant on the windowsill, a white patterned paper cup, an empty yellow bowl, a blue bowl filled with multicolored small beads, a white plastic spoon, and a light blue measuring scoop. A right robotic arm is positioned at the right edge of the scene near the table.", "global_instruction_dense": "The right robotic gripper moves down toward the light blue measuring scoop on the right side of the table, grasps and lifts it, moves it to the area next to the blue bowl of multicolored beads, releases the scoop onto the table, then moves upward away from the placed scoop.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 594, "tasks": ["place utensil"], "length": 254, "global_instruction": "Pick up the light blue measuring scoop and place it upright on the table next to the blue bead bowl.", "scene_description": "A round dark wooden table next to a window holds a blue bowl of multicolored small beads, an empty yellow bowl, a white patterned paper cup, an empty light rectangular wooden box, a small white spoon, a light blue measuring scoop, a glass jar with a purple lid, and small green and red cube blocks. A green potted plant sits on the windowsill, and a robotic arm is positioned at the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the light blue measuring scoop on the table, grasps it, lifts it, adjusts it to an upright orientation, places it next to the blue bead bowl, then releases it and retracts.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 595, "tasks": ["place utensil"], "length": 252, "global_instruction": "Remove a silver utensil from the white patterned mug and place it into the blue plate.", "scene_description": "A white kitchen countertop holds a black and white checkered calibration board on the left, a grey napkin holder with white napkins, scattered white napkins, a blue plate with a wooden spoon and white patterned mug on it, a small white plate with yellow food, a small blue-capped container, two stacks of white disposable cups in a holder, a small white bowl, with a grey tile backsplash with white switches and outlets behind the counter, and a robotic arm at the right edge.", "global_instruction_dense": "The right robotic arm grasps the white patterned mug from the blue plate, moves it left to place it on the white napkins on the counter, then reaches into the mug to grasp the silver utensil inside, lifts it out, and places it into the blue plate.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 596, "tasks": ["place utensil"], "length": 234, "global_instruction": "Pick up the light blue scoop and place it into the yellow bowl of sprinkles.", "scene_description": "A round wooden table holds a white patterned cup, a light blue scoop on a striped dish, a blue bowl with a white plastic spoon, a yellow bowl of colorful sprinkles, a white napkin, and small scattered colorful pieces. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the light blue scoop on the striped dish at the left side of the table, grasps the scoop, lifts it, moves it rightward over the yellow bowl of colorful sprinkles, and lowers it into the yellow bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 597, "tasks": ["place utensil"], "length": 148, "global_instruction": "Place the light blue scoop from the yellow bead bowl into the small light wooden box.", "scene_description": "A round dark wooden table holds a patterned paper cup on the left, a blue bowl behind the cup, a yellow bowl filled with colorful beads and a light blue scoop in the center, a white napkin below the yellow bowl, a small light wooden box and stacked small blocks behind the yellow bowl, with a robotic arm positioned to the right of the table and seats near the background window.", "global_instruction_dense": "The left robotic gripper moves toward the light blue scoop inside the yellow bead bowl on the table, grasps the scoop, lifts it, moves it over the small light wooden box, and releases the scoop into the box.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 598, "tasks": ["place utensil"], "length": 430, "global_instruction": "Place white utensils into the patterned white cups on the kitchen counter.", "scene_description": "A white kitchen counter holds a clear plastic bottle with green cap on the left, a blue bowl, stacked white napkins, three white cups with black decorative patterns, two purple-and-white patterned plates, and a right-side robotic arm; a grey tiled backsplash and black range hood are in the background.", "global_instruction_dense": "The right robotic arm moves down to the kitchen counter, grasps a white utensil, lifts and moves it to a patterned white cup to place inside, then returns to grasp a white utensil and moves it toward another patterned white cup for placement.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 599, "tasks": ["place utensil"], "length": 229, "global_instruction": "Move the metal ladle and small glass jar from the center of the wooden table to the table's left side.", "scene_description": "A round wooden table next to a window holds a yellow bowl of multicolored small beads with a metal ladle inside, a teal bowl, a small glass jar with a brown cap, a white sheet of paper, a small patterned dish, and scattered loose beads. A left robotic arm is positioned at the upper right of the scene.", "global_instruction_dense": "The left robotic arm moves toward the metal ladle in the yellow bead bowl, grasps it, moves it to the left edge of the table and releases it, then moves toward the brown-capped glass jar, grasps it, moves it to the left near the teal bowl and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 600, "tasks": ["place utensil"], "length": 374, "global_instruction": "Place the small black utensil into the rightmost white patterned paper cup on the counter.", "scene_description": "A white kitchen counter backed by grey tiled walls holds a green-capped clear bottle on the far left, a white napkin holder, a blue bowl, three white patterned paper cups, and a small purple-and-white patterned dish. A Franka Emika robotic arm is positioned above the right end of the counter, with a stack of extra cups and a keyboard in the background.", "global_instruction_dense": "The right robotic arm moves left and down toward the blue bowl, grasps a small black utensil, lifts it, moves it right over the rightmost white patterned paper cup, drops the utensil into the cup, then returns to its initial position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 601, "tasks": ["place utensil"], "length": 207, "global_instruction": "Place the plastic chopsticks from the counter into the left front white patterned paper cup.", "scene_description": "A white kitchen counter with light gray tiled backsplash holds a clear green-capped plastic bottle on the left, a blue bowl, three white patterned paper cups, a napkin holder, a plastic chopstick pair near the cups, and a keyboard on the right, with a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves down toward the plastic chopsticks on the counter, grasps them, lifts them, moves them over the left front white patterned paper cup, lowers them, and releases them into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 602, "tasks": ["place utensil"], "length": 249, "global_instruction": "Place a plastic utensil into a white patterned paper cup on the kitchen counter.", "scene_description": "A white kitchen counter holds a green-capped gray liquid bottle, a blue bowl, three white patterned paper cups, a napkin holder, a sponge, and a keyboard, with a tiled backsplash behind it, and a robotic arm positioned high above the counter.", "global_instruction_dense": "The robotic arm lowers from its initial high position toward the counter, grasps a white plastic utensil, lifts it, moves it over a white patterned paper cup, releases the utensil into the cup, then moves upward back to a higher position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 603, "tasks": ["place utensil"], "length": 124, "global_instruction": "Place the blue measuring scoop on the wooden table onto the white napkin next to the bowl.", "scene_description": "A round wooden table holds a silver long-handled ladle, black metal stand, white napkin, yellow-rimmed blue bowl with colorful bead contents, beige square open container, white patterned mug, small green potted plant, blue measuring scoop, white patterned paper plate, brown-lidded spice jar, and small white cube. A right robotic arm is positioned at the right of the table, with gray cushioned seats surrounding the table next to a window fitted with a white roller blind.", "global_instruction_dense": "The right robotic arm moves toward the blue measuring scoop on the right side of the wooden table, grasps the scoop, lifts it, moves it leftward over the white napkin adjacent to the bowl, lowers the scoop, releases it onto the napkin, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 604, "tasks": ["place utensil"], "length": 447, "global_instruction": "Move a patterned cup from the open wall cabinet to the counter, then move a white plate from the counter into the open wall cabinet.", "scene_description": "A kitchen counter with a dark brown upper cabinet, an open white wall cabinet, a wooden multi-compartment organizer, black coffee machine, patterned containers, stacked white plates, and a right robotic arm on the right edge of the counter.", "global_instruction_dense": "The right robotic arm reaches into the open white wall cabinet, grasps a patterned cup, moves it down to place it on the kitchen counter, then grasps a white plate from the counter, lifts it up to place it inside the open wall cabinet, and retracts its arm.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 605, "tasks": ["place utensil"], "length": 345, "global_instruction": "Place a white plate on the countertop and a white printed cup into the open upper kitchen cabinet.", "scene_description": "A white kitchen countertop holds a stack of white plates, a white printed cup, a black coffee machine, a gray patterned container, and wooden snack boxes, with a dark brown upper cabinet on the left, an open white wall cabinet in the background, and a robotic arm on the right.", "global_instruction_dense": "The right robotic arm first grasps a white plate from the stacked plates on the counter, moves it to an empty spot on the counter and releases it, then grasps the white printed cup, lifts it upward to place it inside the open upper white cabinet, then retracts its arm.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 606, "tasks": ["place utensil"], "length": 218, "global_instruction": "Pick up the light-colored plastic cutlery and place them into the top white patterned cup.", "scene_description": "A white kitchen counter against a gray tiled backsplash holds a glass coffee maker on a black scale, black coffee grinder, silver kettle, dark blue bowl, stack of white patterned cups, blue-and-white patterned bowl with a white lid, and light-colored plastic cutlery, with a robotic arm at the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves toward the light-colored plastic cutlery on the kitchen counter, grasps the cutlery, lifts it, moves it over the top white patterned cup, releases the cutlery into the cup, then retracts away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 607, "tasks": ["place utensil"], "length": 201, "global_instruction": "Pick up the light blue scoop next to the bowl and place it on the right side of the dark round table.", "scene_description": "A dark round table near a window holds a blue bowl with yellow rim, light blue scoop, small metallic sphere, and other small items. Dark gray sofas surround the table, with an orange blanket on a light gray chair and a potted plant on the right sofa arm.", "global_instruction_dense": "The right robotic arm moves toward the light blue scoop next to the bowl on the dark round table, grasps it, lifts it, moves it right to the area next to the black mouse on the table, then lowers and releases the scoop onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 608, "tasks": ["place utensil"], "length": 499, "global_instruction": "Place the blue ladle into the yellow bowl on the round table.", "scene_description": "A dark brown round table sits in front of a window, with a blue bowl, a yellow bowl, and small containers on its surface. Dark gray sofas are positioned around the table, a potted plant rests on the right sofa, and an orange blanket is draped over a gray chair arm in the foreground.", "global_instruction_dense": "The right robotic gripper enters the frame from the top right, grasps the blue ladle, moves it over the yellow bowl on the table, lowers the ladle into the bowl, releases it, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 609, "tasks": ["place utensil"], "length": 236, "global_instruction": "Pick a wooden utensil from the open drawer and place it into the printed paper cup on the counter.", "scene_description": "A white kitchen counter holds a printed paper cup, a wooden rack of beverage sachets, stacked disposable cups, and a small plate with food. An open drawer below the counter is filled with light-colored wooden utensils. A Franka robotic arm is positioned to the right of the counter.", "global_instruction_dense": "The left robotic gripper moves toward the open drawer of wooden utensils, grasps a single wooden utensil, lifts it, moves it over to the printed paper cup on the counter, attempts to place the utensil into the cup which knocks the cup over, then retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 610, "tasks": ["place utensil"], "length": 276, "global_instruction": "Reposition and reorient the light blue measuring scoop on the wooden round table.", "scene_description": "A dark brown round wooden table holds a white mug, small yellow cube, small black item, blue-and-white striped tall vase, red-capped bottle on a patterned plate, stacked green lower and blue upper bowls, light blue measuring scoop, and light beige rectangular box. Dark gray sofas surround the table, with a window showing buildings in the background.", "global_instruction_dense": "The right robotic gripper descends toward the light blue measuring scoop on the wooden table, grasps it, lifts and rotates it to adjust its orientation, places it back on the table surface, then lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 611, "tasks": ["place utensil"], "length": 589, "global_instruction": "Pick up the small blue handled scoop on the table and place it back onto the table surface.", "scene_description": "A dark round wooden table holds a large blue bowl, a yellow bowl positioned behind the blue bowl, a small blue handled scoop to the right of the blue bowl, a light beige square box further right, a white cylindrical cup to the left of the blue bowl, a small yellow cube adjacent to the cup, a tall white-and-teal container behind the cup, and a red-capped spice bottle between the two bowls; a black robotic gripper is at the top right, with dark gray seating and a bright exterior window in the background.", "global_instruction_dense": "The right robotic gripper first moves down to hover above the yellow bowl, then shifts to hover above the small blue handled scoop, grasps and lifts the scoop above the table, moves the scoop above the table, then lowers and releases it back onto the table before moving upward away from the surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 612, "tasks": ["place utensil"], "length": 394, "global_instruction": "Grasp the blue measuring scoop on the table, move it, then place it back on the table surface.", "scene_description": "A round dark brown table is positioned near a window. On the table, there is a small black object, a white mug, a yellow cube, a small blue cylinder, a blue measuring scoop, a light wooden open box, a yellow bowl stacked with a blue bowl, a red-capped bottle, and a tall striped container. A robotic arm is at the upper right of the scene.", "global_instruction_dense": "The right robotic arm moves down toward the blue measuring scoop on the table, grasps it, lifts and moves it around in the air above the table, then lowers the scoop back to the table surface, releases it, and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 613, "tasks": ["place utensil"], "length": 256, "global_instruction": "Place the white plastic forks and spoon on the table into the printed white paper cup.", "scene_description": "A round dark brown wooden table holds a small black object, a blue bowl, a yellow bowl behind the blue bowl, a stack of translucent and teal cups behind the bowls, a white paper cup printed with a coffee pattern to the right of the blue bowl, white plastic forks, a white plastic spoon, a small red block, a small beige block, a blue cylinder, and a light blue ball on its right side. Dark couches are around the table, with a window showing buildings outside in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white plastic forks, grasps them, moves them over the printed white paper cup and releases them inside, then moves to the white plastic spoon, grasps it, moves it over the cup and releases it inside.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 614, "tasks": ["place utensil"], "length": 135, "global_instruction": "Take plastic cutlery out of the patterned paper cup and place it on the wooden table.", "scene_description": "A round dark wooden table holds a blue bowl, a white patterned paper cup with plastic cutlery inside, a yellow bowl, a clear water dispenser, a small black object, a red block, a small yellow cube, a blue cylindrical cup, a light blue sphere, and a light brown box, with dark seating around it and windows in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white patterned paper cup on the round wooden table, grasps the plastic cutlery inside the cup, lifts the cutlery, moves it to the right side of the cup, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 615, "tasks": ["place utensil"], "length": 290, "global_instruction": "Place the white spoon and fork on the table into the white patterned cup", "scene_description": "A round dark brown wooden table holds a light blue bowl, a white patterned cup, a yellow bowl, a white fork and a white spoon next to the cup, a small red block, a small blue cylinder, a small beige cube, a black small object left of the blue bowl, and stacked transparent containers near the window, with a robotic arm at the table's top right.", "global_instruction_dense": "The right robotic gripper moves toward the white utensils on the table, grasps the spoon, lifts and moves it to drop into the white patterned cup, then grasps the fork, lifts and moves it to drop into the same cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 616, "tasks": ["place utensil"], "length": 341, "global_instruction": "Remove the plastic fork and plastic spoon from the patterned paper cup and place them on the wooden table.", "scene_description": "A round dark brown wooden table holds a light blue bowl, a white paper cup with brown floral patterns containing plastic utensils, a red rectangular block, a blue cylindrical object, a small light yellow cubic block, a small black object to the left of the blue bowl, and a stack of light blue and white cups behind the blue bowl, with a large window and dark cushioned seating surrounding the table.", "global_instruction_dense": "The right robotic gripper moves toward the patterned paper cup, grasps the white plastic fork inside, lifts it, moves it rightward to place it on the wooden table, then returns to the cup, grasps the white plastic spoon inside, lifts it, moves it backward to place it on the table behind the cup, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 617, "tasks": ["place utensil"], "length": 369, "global_instruction": "Remove the white spoon and fork from the printed paper cup and place them outside the cup.", "scene_description": "A round dark wooden table holds a blue plastic bowl on the left, a small black object left of the bowl, a yellow bowl behind the blue bowl, a white cylindrical container, a printed paper cup with a white spoon inside at center-right, a red rectangular block, a blue cylinder, and a small yellow cube on the far right. A robotic arm is positioned at the upper right of the table.", "global_instruction_dense": "The right robotic arm first reaches into the printed paper cup on the wooden table, grasps the white spoon inside, pulls it out and places it on the table next to the cup, then reaches back into the cup, grasps the white fork inside, pulls it out and places it on the rim of the paper cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 618, "tasks": ["place utensil"], "length": 568, "global_instruction": "Arrange the tableware by placing the plate, fork, and light blue cup on the kitchen island with the cup resting on the plate.", "scene_description": "A wooden kitchen island holds a glass coffee carafe, white lidded cup, and stained paper towel. A black toaster oven with a white plate on top sits at the far side of the island, next to a tissue box, paper towel roll, and light blue cup near a glass door.", "global_instruction_dense": "The right robotic arm first grasps the white plate atop the black toaster oven and places it on the wooden kitchen island, then retrieves a metal fork from the light blue cup and sets it next to the plate, finally lifts the light blue cup and places it on the plate.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 619, "tasks": ["place utensil"], "length": 243, "global_instruction": "Place the black utensil from the white plate on the toaster oven into the small white dish on the kitchen counter", "scene_description": "A light wooden kitchen island counter holds a white lidded cup, a small white dish with a black utensil, a stack of light blue cups, a black electric kettle, a brown baked food item, a white parchment sheet, and a black toaster oven. A green avocado and a white plate with a black utensil sit atop the toaster oven. White cabinets, a sink, stainless steel toaster, coffee maker, stove, and white refrigerator are in the background.", "global_instruction_dense": "The right robotic arm moves toward the black utensil resting on the white plate atop the toaster oven, grasps the utensil, moves it leftward over the small white dish on the wooden counter, lowers and releases the utensil into the dish, then lifts and moves away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 620, "tasks": ["place utensil"], "length": 223, "global_instruction": "Place a utensil into the rightmost light blue cup on the kitchen counter", "scene_description": "A white kitchen counter has a sink on its left, a blue bowl with a nested white bowl, a small standalone white bowl, three light blue cups, and a wooden stick to the sink's right, with a gas stove to the counter's right, white glass-fronted cabinets above, a window with two soap bottles and a small potted plant on its sill, and a robotic arm positioned over the stove.", "global_instruction_dense": "The right robotic arm moves toward the utensil holder next to the coffee maker on the kitchen counter, grasps a dark utensil, lifts it, moves it left over the rightmost light blue cup, lowers it, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 621, "tasks": ["place utensil"], "length": 295, "global_instruction": "Pick up the light wooden utensil on the counter and place it into the rightmost light blue cup.", "scene_description": "A white kitchen counter has a sink under a window, with three light blue cups, a small white bowl, a blue bowl, and a light wooden utensil to the sink's right; a gas stove is at the far right, and a robotic arm is above the stove area.", "global_instruction_dense": "The right robotic arm descends toward the light wooden utensil on the counter near the stove, grasps it, lifts it, moves it over the rightmost light blue cup, lowers it, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 622, "tasks": ["place utensil"], "length": 376, "global_instruction": "Pick up the metal utensil on the kitchen counter and place it into the light blue cup to its right.", "scene_description": "A white kitchen counter has a sink on its left, a green spray bottle, clear glass pitcher, silver utensils, light blue cups, a toaster, paper towel roll and black coffee maker, with a gas stove to the counter's right and white cabinets above the space.", "global_instruction_dense": "The right robotic arm lowers toward the metal utensil on the kitchen counter, grasps it, lifts it, moves right to position over the light blue cup, lowers the utensil into the cup, releases it, and moves upward away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 623, "tasks": ["place utensil"], "length": 406, "global_instruction": "Place kitchen utensils into the dish rack's side utensil holder", "scene_description": "A white kitchen sink with a silver faucet sits below a white-framed window. The window sill holds a light green pump soap bottle, small green clear bottle, blue cloth, small rectangular item, and a potted plant at the right end. A roll of white paper towels is to the left of the sink, a metal dish drying rack is to the right of the sink, and a robotic arm is at the far right of the scene.", "global_instruction_dense": "The right robotic arm sequentially grasps a silver spoon, a silver utensil, and a green spatula, moves each over the metal dish rack's side utensil holder, and releases each into the holder to store them.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 624, "tasks": ["place utensil"], "length": 254, "global_instruction": "Place the green utensil into the utensil compartment of the dish drying rack", "scene_description": "A white kitchen sink with a chrome faucet sits below a windowsill. The windowsill holds a light green pump soap bottle, a small bottle with green liquid, items on a blue cloth, and a potted plant at its right end. A white paper towel roll is left of the sink, a silver dish drying rack is right of the sink, and white upper cabinets are visible above.", "global_instruction_dense": "The right robotic gripper enters from the top right of the scene, moves down to the silver dish drying rack, grasps the green utensil, adjusts its position, places it into the dish rack's utensil compartment, then retracts upward out of the scene.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 625, "tasks": ["place utensil"], "length": 434, "global_instruction": "Place cutlery items into the cutlery compartment of the metal dish rack next to the sink.", "scene_description": "A kitchen counter with a white sink under a window. The windowsill has a light green pump soap bottle, small green bottle, blue cloth, mobile phone, and a potted plant. A roll of white paper towels is left of the sink, a metal dish rack is right of the sink, and a right robotic arm is above the dish rack.", "global_instruction_dense": "The right robotic arm moves multiple cutlery items toward the metal dish rack, places each cutlery into the rack's cutlery compartment, and repositions between placements.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 626, "tasks": ["place utensil"], "length": 563, "global_instruction": "Move the blue plate from the dish rack to the sink, then place utensils from the dish rack into the plate.", "scene_description": "A white kitchen sink with a silver faucet sits below a window. The windowsill holds a green pump soap bottle, small green liquid bottle, blue cloth, and a phone, with a potted plant at its right end. A metal dish rack to the sink's right contains a blue plate, and a roll of white paper towels is to the sink's left. A right robotic arm is positioned at the top right of the frame.", "global_instruction_dense": "The right robotic arm grasps the blue plate from the dish rack, moves and places it into the sink, then sequentially grasps two separate utensils from the dish rack and places each into the blue plate in the sink.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 627, "tasks": ["place utensil"], "length": 249, "global_instruction": "Place the whisk into the kitchen sink.", "scene_description": "A white kitchen sink holding a white mug, light green cup, small white saucer, and metal spoon sits on a kitchen counter. A roll of white paper towels is in front of the sink. The windowsill above holds a light green pump soap bottle, light blue cup, small glass, and potted plant, and a metal dish rack with dishes is to the sink's right.", "global_instruction_dense": "The right robotic arm enters from the upper right holding a whisk, moves downward toward the kitchen sink, releases the whisk to drop it into the sink, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 628, "tasks": ["place utensil"], "length": 190, "global_instruction": "Place the metal whisk from the sink into the white mug inside the sink.", "scene_description": "A white kitchen sink contains a white mug, small white dish, light blue cup, metal whisk, and metal strainer. A roll of white paper towels sits left of the sink, a windowsill above the sink holds a light green soap bottle, light blue cup, small green glass, and potted plant, and a dish rack with dishes is positioned to the sink's right.", "global_instruction_dense": "The right robotic arm moves into view above the sink, grasps the metal whisk, lifts it, moves it over the white mug, lowers the whisk into the mug, then releases the whisk and retracts.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 629, "tasks": ["place utensil"], "length": 253, "global_instruction": "Pick the black-handled tongs from the middle door rack and place them on the top door rack.", "scene_description": "A pantry with white left shelves holding various bottles and boxes, a brown wine glass box on a white fridge, and a white door with metal racks holding black-handled tongs and a green cloth.", "global_instruction_dense": "The right robotic arm moves toward the black-handled tongs hanging on the middle door rack, grasps them, lifts them upward, and places them on the top door rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 630, "tasks": ["place utensil"], "length": 297, "global_instruction": "Hang the black-handled tongs from the lower door rack onto the upper door rack.", "scene_description": "A white door with a multi-tiered wire hanging rack has black-handled tongs on its second tier. To the left are white built-in shelves holding various bottles, boxes, and a 'WINE GLASS' labeled cardboard box resting on a white cabinet, with a wooden floor below.", "global_instruction_dense": "The right robotic arm enters from the upper right, moves toward the black-handled tongs on the lower tier of the door wire rack, grasps and lifts the tongs, moves upward, hangs the tongs on the upper tier of the door rack, then releases and moves away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 631, "tasks": ["place utensil"], "length": 193, "global_instruction": "Place the slotted spatula onto the upper open shelf of the white cabinet.", "scene_description": "A white cabinet stands against a white wall. The upper open shelf of the cabinet holds a clear wine glass on the left and a clear glass carafe on the right.", "global_instruction_dense": "The right robotic gripper enters the frame from the top right holding a slotted spatula, moves it down toward the upper open shelf of the white cabinet, places the spatula between the wine glass and carafe, releases the spatula, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 632, "tasks": ["place utensil"], "length": 378, "global_instruction": "Move the black slotted spatula from the upper cabinet shelf to the middle empty cabinet shelf", "scene_description": "A white open-faced cabinet has a clear wine glass, a black slotted spatula with silver handle, and two clear glasses on its top shelf; the middle shelf is empty, with a closed cabinet below.", "global_instruction_dense": "The right robotic gripper approaches the black slotted spatula on the upper cabinet shelf, grasps it, lifts it, moves it down to the middle empty shelf, adjusts its placement, releases it, then retracts from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 633, "tasks": ["place utensil"], "length": 203, "global_instruction": "Pick the black slotted spatula from the lower open shelf and place it on the top open shelf of the shelving unit.", "scene_description": "A white shelving unit stands next to a white curtain. The top open shelf holds a clear wine glass and two short clear cups, while the lower open shelf holds a black slotted spatula.", "global_instruction_dense": "The right robotic gripper moves toward the black slotted spatula on the lower open shelf of the white shelving unit, grasps it, lifts it upward to the top open shelf, adjusts its position over the top shelf, and releases it onto the top shelf between the clear glassware.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 634, "tasks": ["place utensil"], "length": 178, "global_instruction": "Pick up the black slotted spatula from the white cabinet's middle shelf and place it on the wooden table.", "scene_description": "A wooden table on the right holds a white mug, white plate, blue container, green pen, clear water bottle, and folded cloths. To the left of the table is a white open cabinet: its top shelf has a light blue cup and an orange cup with green rim, middle shelf has a clear wine glass, black slotted spatula, and small clear glass, bottom shelf is empty. A robotic arm is above the table.", "global_instruction_dense": "The right robotic arm moves toward the middle shelf of the white cabinet, grasps the black slotted spatula, lifts it, moves it over the wooden table, and places it on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 635, "tasks": ["place utensil"], "length": 187, "global_instruction": "Pick up the black tongs on the table and place them on the small pot with the silver lid.", "scene_description": "A dark brown wooden dining table holds an orange plastic cup, clear water bottle, small pot with silver lid, light green cloth, and black tongs. Two wooden chairs are against the far white wall, a robotic arm sits to the right of the table, and a window and fridge are in the background.", "global_instruction_dense": "The right robotic arm moves toward the black tongs on the right side of the dining table, grasps the tongs with its gripper, lifts them, moves leftward over the small pot with a silver lid, and lowers to place the tongs on top of the pot lid.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 636, "tasks": ["place utensil"], "length": 145, "global_instruction": "Pick up the black tongs on the pot lid and place them on the right side of the table.", "scene_description": "A dark brown wooden dining table holds an orange plastic cup, a clear water bottle, a lidded stainless steel pot, a yellow cloth, and a small black kitchen appliance. Four brown wooden chairs with white slats line the far white wall, a light switch is on the left wall, and a right robotic arm is positioned near the black appliance at the table's right side.", "global_instruction_dense": "The right robotic arm moves from its initial position near the black tabletop appliance toward the lidded stainless steel pot, grasps the black tongs resting on the pot lid, lifts the tongs, moves them rightward across the table, and places them on the table's right surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 637, "tasks": ["place utensil"], "length": 180, "global_instruction": "Pick up the metal tongs and place them into the small silver metal pot", "scene_description": "A dark brown wooden table holds an orange cup with a white spoon, a clear plastic water bottle, a small silver metal pot, a yellow cloth with a metal lid on top, and metal tongs to the right of the pot. A white robotic arm is positioned above the table, with wooden chairs against white walls and a window in the background.", "global_instruction_dense": "The right robotic arm moves toward the metal tongs on the right side of the table, grasps the tongs with its gripper, lifts and moves the tongs over the small silver metal pot, then lowers and releases the tongs into the pot.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 638, "tasks": ["place utensil"], "length": 250, "global_instruction": "Place the metal utensils from the table into the small metal cooking pot.", "scene_description": "A dark brown wooden dining table holds a green cloth, orange plastic cup, small metal cooking pot, metal pot lid, clear plastic water bottle, and several metal utensils. A robotic arm is positioned to the right of the table, with wooden chairs against the white wall behind the table.", "global_instruction_dense": "The right robotic arm moves toward the metal utensils on the dark wooden table, grasps them with its gripper, lifts them, moves over the small metal pot, and releases the utensils into the pot.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 639, "tasks": ["place utensil"], "length": 154, "global_instruction": "Pick up the small utensil from the table and place it into the orange plastic cup", "scene_description": "A dark brown wooden dining table holds a clear plastic water bottle on its left, a metal pot lid, a small metal pot, an orange plastic cup, a light green cloth, multiple small utensils, a white salt shaker, and a piece of paper. Three wooden chairs are against the far white wall, with a right robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves right toward the group of utensils on the right side of the table, grasps a small dark utensil with its gripper, lifts it, moves left over the orange plastic cup, and lowers the utensil into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 640, "tasks": ["place utensil"], "length": 160, "global_instruction": "Place the dark blue kitchen utensil into the small stainless steel pot on the dining table.", "scene_description": "A dark brown wooden dining table holds a small stainless steel pot, a matching pot lid, a dark blue kitchen utensil, a light green cloth, an orange cup on a small white saucer, and a clear glass behind the cup. Three wooden slat chairs are against the white wall behind the table, and a right robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves toward the dark blue kitchen utensil next to the light green cloth on the table, grasps the utensil, lifts it, moves it left over the small stainless steel pot, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 641, "tasks": ["place utensil"], "length": 140, "global_instruction": "Pick up the black spatula from the green cloth and place it into the white small dish on the table.", "scene_description": "A dark wooden dining table holds a metal pot with an orange bottle inside, a small yellow bowl, a metal lid, a white small dish, a clear plastic bottle, and a light green cloth with a black spatula resting on it. Wooden chairs line the white wall behind the table, and a right robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the light green cloth on the table, grasps the black spatula resting on the cloth, lifts the spatula, moves it leftward over the white small dish, lowers it, and places it into the white dish.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 642, "tasks": ["place utensil"], "length": 188, "global_instruction": "Pick up the metal utensil from the silver plate and place it into the bowl with light green cloth.", "scene_description": "A dark brown wooden dining table is surrounded by wooden chairs with brown frames and white slats. On the table: an orange bottle with white cap, a dark bowl holding light green cloth, a bright green plastic cup, a silver plate with a clear bottle and metal utensil, a small yellow container with blue items, and a piece of paper. A white robotic arm is on the right of the frame, with light gray walls, a window, and a refrigerator in the background.", "global_instruction_dense": "The right robotic arm moves toward the metal utensil on the silver plate on the dining table, grasps the utensil with its gripper, lifts it, moves it over the bowl holding light green cloth, then lowers and releases the utensil into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 643, "tasks": ["place utensil"], "length": 343, "global_instruction": "Pick up silver eating utensils from the dining table and place them into the yellow plastic bowl.", "scene_description": "A dark brown wooden dining table holds an orange drink bottle, a metal container with a green cloth inside, a metal pot lid, a small dark bowl, a clear plastic bottle, multiple silver eating utensils, a light blue plastic cup, a yellow plastic bowl, and a yellow plastic cup. A white robotic arm is positioned at the right edge of the table, with wooden dining chairs, a bright window, and a white refrigerator in the background.", "global_instruction_dense": "The right robotic arm moves toward silver utensils on the dining table, grasps a utensil, lifts it, moves it over the yellow bowl and releases it into the bowl, then moves back to grasp another utensil.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 644, "tasks": ["place utensil"], "length": 218, "global_instruction": "Reposition the utensil inside the yellow bowl on the dining table.", "scene_description": "A dark wooden dining table holds an orange bottle, a container with a green cloth, a metal lid, a small dish with a dark item, a clear plastic bottle, a yellow bowl, a blue cup, a tall gray container, and a yellow cup. Four wooden chairs are against the white wall, a white refrigerator is in the background, and a right robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow bowl on the wooden dining table, lowers its gripper into the bowl to reposition the utensil inside the bowl, then releases the utensil and lifts its gripper away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 645, "tasks": ["place utensil"], "length": 524, "global_instruction": "Place the scattered silver utensils on the dining table into the light blue cup in the green base.", "scene_description": "A dark brown wooden dining table surrounded by four wooden chairs holds an orange bottle with a silver cap, a metal container with a light green cloth, a metal pot lid, a small white dish with a dark item, a horizontal clear plastic bottle, a light blue cup in a bright green base, a small yellow cup, and scattered silver utensils. A white refrigerator sits near a bright window in the background, with a right robotic arm positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm grasps each scattered silver utensil from the dark wooden dining table, lifts each utensil, moves it over the light blue cup set in the bright green base, and releases each utensil into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 646, "tasks": ["place utensil"], "length": 650, "global_instruction": "Place metal utensils from the wooden table into the translucent green cup.", "scene_description": "A dark brown wooden dining table holds various objects: an orange bottle with a gray cap, a container with a light green cloth, a metal pot lid, a small white dish with a dark object, a clear plastic bottle, a translucent green cup sitting on a yellow saucer, a yellow plastic cup, and multiple small metal utensils spread across the table surface. Four dark brown wooden chairs are positioned around the table, a white robotic arm is above the right side of the table, and a bright window, white refrigerator, and white kitchen cabinets are in the background.", "global_instruction_dense": "The right robotic arm moves over the wooden dining table, grasps metal utensils from the table surface one at a time, lifts each utensil, moves it over the translucent green cup resting on a yellow saucer, and releases each utensil into the green cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 647, "tasks": ["place utensil"], "length": 450, "global_instruction": "Place scattered silver cutlery from the table into the green cup.", "scene_description": "A dark brown wooden dining table holds an orange bottle with a silver cap, a metal container with a green cloth, a metal pot lid, a small dark dish, a clear plastic bottle, a green cup in a yellow base, a small yellow cup, and scattered silver cutlery. Two brown wooden chairs are against the white wall behind the table, and a right robotic arm is positioned above the table near the green cup.", "global_instruction_dense": "The right robotic arm moves toward scattered silver cutlery on the dining table, sequentially grasps a spoon and a fork, lifts each piece, moves each over the green cup, and releases them into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 648, "tasks": ["place utensil"], "length": 573, "global_instruction": "Place the silver utensils from the dining table into the green cup", "scene_description": "A dark wooden dining table holds an orange bottle, a metal container with a green cloth, a pot lid, a small dish with a dark item, a clear plastic bottle, a green cup on a green base, a yellow cup, and multiple silver utensils. A white robotic arm is positioned on the right side of the table, with three wooden chairs against the back white wall, a window, and a white refrigerator in the background.", "global_instruction_dense": "The right robotic gripper moves toward silver utensils on the dining table, grasps individual utensils one by one, lifts each utensil, moves it over the green cup on the green base, and releases each utensil into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 649, "tasks": ["place utensil"], "length": 431, "global_instruction": "Place all metal utensils from the white cloth onto the adjacent bare wooden table surface.", "scene_description": "A dark wooden dining table holds a white cloth with silver metal utensils on its right side, a light green cloth, a blue cup, a clear plastic bottle, an orange container with a grey lid, and additional utensils on its left. Four wooden chairs are against the white wall behind the table, a white refrigerator is in the background, and the right robotic arm is positioned at the upper right of the scene.", "global_instruction_dense": "The right robotic arm repeatedly grasps metal utensils from the white cloth on the right of the wooden dining table, moves each utensil left to the bare wooden table surface, releases it, until all utensils from the cloth are placed on the bare table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 650, "tasks": ["place utensil"], "length": 146, "global_instruction": "Pick up the metal tongs from the gray basket and place them on the white cloth bag on the metal shelf.", "scene_description": "A gray woven basket rests on a bed with black, gray and white circular patterned bedding, a two-tier metal shelf on the bed holds a white cloth bag, a small light-colored plush toy and a red object; a wooden bunk bed is on the left, a brown sofa is on the right, and a robotic arm is positioned near the shelf.", "global_instruction_dense": "The right robotic arm moves from its position near the metal shelf to the gray basket, grasps the metal tongs inside the basket, lifts the tongs, moves them over the white cloth bag on the metal shelf, and releases the tongs onto the bag.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 651, "tasks": ["place utensil"], "length": 219, "global_instruction": "Place a metal utensil from the table onto the white plate atop the black countertop oven", "scene_description": "A white table sits against a white paneled wall beside a window with sheer white curtains. On the table: a black countertop oven with a white plate on top, a clear water bottle left of the oven, an orange packet next to the bottle, a silver toaster right of the oven, a silver saucepan right of the toaster, and metal utensils near the oven's front.", "global_instruction_dense": "The right robotic gripper moves down toward the metal utensils on the table, grasps one metal utensil, lifts it, moves it over the white plate on the black oven, releases the utensil onto the plate, then moves upward away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 652, "tasks": ["place utensil"], "length": 723, "global_instruction": "Retrieve a white plate and a patterned cup from the upper kitchen cabinet, place the plate on the counter, and set the cup on the plate before closing the cabinet.", "scene_description": "A closed white upper cabinet is mounted below a built-in silver microwave on the left. A silver drip coffee maker rests on the white kitchen counter below the cabinet, with a blue-and-white patterned decorative plate on the far left of the counter. A white robotic arm with black accents is positioned to the right of the counter, next to a small white table and cushioned bench against a green wall with a wooden bookshelf holding books above the bench.", "global_instruction_dense": "The right robotic arm pulls open the upper kitchen cabinet door, reaches inside to grasp a white plate, lowers the plate to place it on the counter, reaches back into the cabinet to grasp a patterned white cup, lowers the cup to place it on the plate, then pushes the cabinet door closed.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 653, "tasks": ["place utensil"], "length": 122, "global_instruction": "Pick the white stick from the brown tray and place it on the gray table.", "scene_description": "A light gray table stands against a dark purple wall. On the table, a black wristband, white circular dial, red toy car, gray calculator, and brown irregular wooden tray are arranged left to right, with a white stick with a square end resting on the tray.", "global_instruction_dense": "The right robotic arm enters from the top right of the frame, moves down to the brown wooden tray on the gray table, grasps the white stick with a square end, lifts it, moves it away from the tray, and releases it onto the gray table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 654, "tasks": ["place utensil"], "length": 157, "global_instruction": "Place the small white flat-headed stick on the gray table into the silver metal bowl.", "scene_description": "A gray table against a purple wall holds a silver metal bowl on the left, a small white flat-headed stick in front of the bowl, a blue round container to the right of the bowl, a black object on a white coaster to the right of the container, and a brown wooden tray with small items at the far right.", "global_instruction_dense": "The right robotic arm moves toward the small white flat-headed stick on the table, grasps it, lifts it, moves it over the silver metal bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 655, "tasks": ["place utensil"], "length": 160, "global_instruction": "Take the white spatula from the silver bowl and place it on the brown cutting board.", "scene_description": "A grey table against a purple wall holds a red toy car, a silver bowl with a white spatula inside, a calculator, and a brown wooden cutting board at the back right.", "global_instruction_dense": "The right robotic arm enters the frame, moves to the silver bowl, grasps the white spatula inside it, lifts the spatula, moves it over to the brown cutting board, and releases the spatula onto the cutting board.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 656, "tasks": ["place utensil"], "length": 160, "global_instruction": "Pick up the white-handled utensil from the brown wooden plate and place it onto the white circular disk.", "scene_description": "A gray tabletop against a purple wall holds a silver metal bowl with a strainer, a white circular disk, a brown wooden plate with a white-handled utensil, a small black object, and a small red cart-shaped object near a window.", "global_instruction_dense": "The right robotic arm moves toward the white-handled utensil on the brown wooden plate, grasps it, lifts and moves it over the white circular disk on the table, then releases it onto the disk.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 657, "tasks": ["place utensil"], "length": 506, "global_instruction": "Retrieve a fork and a spoon from the drawer and place them on the kitchen counter.", "scene_description": "A stainless steel microwave is fitted into a white upper cabinet above a white kitchen counter. A blue patterned decorative plate leans against the left wall of the counter, a black and silver coffee maker sits on the center of the counter, and a white and black robotic arm is positioned at the right side of the counter above a partially open drawer. In the background, a window has a small framed photo on its sill, a green wall holds a wooden bookshelf with books, and a grey couch with patterned cushions sits below the window.", "global_instruction_dense": "The right robotic arm reaches into the partially open drawer below the counter, grasps a fork, lifts it out, places it on the right side of the counter, returns to the drawer to grasp a spoon, lifts the spoon out, places it next to the fork on the counter, then pushes the drawer closed and moves back to its resting position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 658, "tasks": ["place utensil"], "length": 206, "global_instruction": "Pick up the black scoop from the kitchen counter and place it back on the counter surface.", "scene_description": "A silver toaster sits on the left of a white kitchen counter, a silver kettle is behind the toaster, a white paper towel roll on a metal holder is at the counter center, a blue patterned plate is behind the paper towel, a silver coffee maker is to the right of the paper towel, a microwave is in the upper white cabinet behind the coffee maker, a small black scoop rests next to the paper towel holder, and a right Franka Emika robotic arm is positioned on the right side of the counter near the coffee maker.", "global_instruction_dense": "The right robotic arm moves toward the small black scoop next to the paper towel roll on the kitchen counter, grasps the scoop with its gripper, lifts it slightly, lowers it back to the counter, releases the scoop, then moves back to its initial position near the coffee maker.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 659, "tasks": ["place utensil"], "length": 251, "global_instruction": "Take a small metal utensil from the open drawer and place it on the kitchen counter.", "scene_description": "A white kitchen counter holds a white container with a green lid on its left side, an open drawer sits below the counter, a right robotic arm is positioned above the counter edge next to the drawer, windows with white horizontal blinds are to the left of the counter, and wall shelves hold small items.", "global_instruction_dense": "The right robotic arm moves downward into the open drawer below the counter, grasps a small metal utensil, lifts it out of the drawer, moves it over the white kitchen counter, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 660, "tasks": ["place utensil"], "length": 229, "global_instruction": "Place the small metal utensil on the kitchen counter next to the red-accented small utensil.", "scene_description": "A white kitchen counter holds a light green lidded container, a red-accented small utensil, and a small metal utensil, with a sink to the right of the container, a robotic arm above the sink area, blinds-covered windows to the left, and shelves with dishes above the counter.", "global_instruction_dense": "The right robotic arm moves left from above the sink, grasps the small metal utensil to the right of the green lidded container, moves the utensil left to place it adjacent to the red-accented small utensil, adjusts its position, then lifts and moves back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 661, "tasks": ["place utensil"], "length": 338, "global_instruction": "Take the orange spatula from the open drawer and place it on the kitchen counter", "scene_description": "A white kitchen counter holds a silver coffee maker on the far left, a blue patterned decorative plate, a silver kettle with a black handle, and a small white plate. Below the counter is an open drawer containing utensils and an orange spatula, with a robotic arm positioned to the right of the counter against a green wall background.", "global_instruction_dense": "The right robotic arm moves toward the open drawer, lowers to grasp the orange spatula, lifts it out of the drawer, moves it upward to the counter surface, places it next to the small white plate, releases it, then moves away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 662, "tasks": ["place utensil"], "length": 240, "global_instruction": "Place a metal utensil from the open silverware drawer onto the kitchen counter.", "scene_description": "A white kitchen counter holds a silver coffee maker, clear glass carafe, stainless steel kettle, blue patterned decorative plate, small white round plate, and orange square object. An open silverware drawer with assorted utensils sits below the counter, a microwave is installed in upper white cabinets, a gray sofa against a green wall is in the background, and a right robotic arm is positioned above the drawer.", "global_instruction_dense": "The right robotic arm moves downward toward the open silverware drawer, grasps a metal utensil, lifts it out of the drawer, moves it over the kitchen counter, lowers it, and releases it onto the counter next to the orange square object.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 663, "tasks": ["place utensil"], "length": 179, "global_instruction": "Place a silver utensil from the kitchen counter into the open cutlery drawer.", "scene_description": "A white kitchen counter holds a silver coffee pot, glass jar with wooden lid, red screwdriver, white plate, orange hexagonal pad, and stack of silver utensils. An open drawer under the counter stores sorted cutlery, a white robotic arm is positioned to the right of the counter, with a green wall and patterned couch in the background.", "global_instruction_dense": "The right robotic arm moves toward the stack of silver utensils on the kitchen counter, grasps a silver utensil, lifts it, lowers it into the open cutlery drawer, releases the utensil, then lifts back away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 664, "tasks": ["place utensil"], "length": 214, "global_instruction": "Take a metal utensil from the open cutlery drawer and place it on the white plate on the counter.", "scene_description": "A kitchen counter holds a white plate, red-handled knife, stainless steel kettle, and glass pour-over brewer, with an open cutlery drawer below the counter and a robotic arm positioned above the drawer.", "global_instruction_dense": "The right robotic arm lowers into the open cutlery drawer, grasps a metal utensil, lifts it out of the drawer, moves it over the white plate on the counter, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 665, "tasks": ["place utensil"], "length": 208, "global_instruction": "Place the metal utensils from the orange counter mat into the open cutlery drawer.", "scene_description": "A white kitchen counter holds a silver kettle, red screwdriver, white plate, orange mat with metal utensils, and a decorative blue patterned plate leaning against the wall. An open cutlery drawer with sorted utensils sits under the counter, with a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves toward the utensils on the orange mat, grasps a metal utensil, lowers it into the open cutlery drawer's sorted compartment, releases the utensil, then moves back up to its initial position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 666, "tasks": ["place utensil"], "length": 307, "global_instruction": "Place metal utensils from the kitchen counter into the open utensil drawer.", "scene_description": "A white kitchen counter holds a blue-and-white decorative plate, silver kettle with black handle, clear glass pour-over, red screwdriver, white plate with a small dark item, orange mat with metal utensils, and an open drawer below holding organized cutlery and small colorful lids. A white robotic arm is positioned to the right of the counter, with a green wall, window, and dark patterned couch in the background.", "global_instruction_dense": "The right robotic arm reaches toward metal utensils on the kitchen counter, grasps each utensil individually, moves it into the open utensil drawer below the counter, releases it, and repeats the process for two utensils.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 667, "tasks": ["place utensil"], "length": 213, "global_instruction": "Place the metal utensil on the orange counter cloth into the open cutlery drawer", "scene_description": "A white kitchen counter holds a silver kettle, red screwdriver, white plate, and orange cloth with a metal utensil on it. An open cutlery drawer sits below the counter, and a robotic arm is positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the metal utensil on the orange counter cloth, grasps the utensil, lifts and moves it to the open cutlery drawer below the counter, releases the utensil into the drawer, then moves upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 668, "tasks": ["place utensil"], "length": 216, "global_instruction": "Pick up the small silver utensil from the white plate and place it into the open cutlery drawer.", "scene_description": "A white kitchen countertop holds a stainless steel kettle, a red-handled screwdriver, a white plate with a small silver utensil on it, and an orange sponge. Below the counter is an open drawer containing assorted cutlery and small colorful lids, with a white robotic arm positioned at the upper right above the counter.", "global_instruction_dense": "The right robotic arm moves from its starting position above the right side of the counter toward the small silver utensil on the white plate, grasps the utensil, lifts it, moves it down over the open cutlery drawer, releases the utensil into the drawer, then moves back upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 669, "tasks": ["place utensil"], "length": 225, "global_instruction": "Take a utensil from the open lower drawer and place it on the kitchen countertop next to the existing tools.", "scene_description": "A kitchen area with white upper cabinets, a stainless steel stove, a white countertop next to the stove, and an open lower drawer holding wooden utensils. A black-handled knife, small metal utensil, and orange-handled scissors are on the countertop, and a robotic arm is positioned above the stove.", "global_instruction_dense": "The right robotic arm moves down toward the open lower kitchen drawer, grasps a utensil inside the drawer, lifts the utensil out of the drawer, moves it over the countertop, and places it next to the knife, metal tool, and scissors on the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 670, "tasks": ["place utensil"], "length": 237, "global_instruction": "Take utensils from the open kitchen drawer and place them on the countertop.", "scene_description": "A kitchen with a stainless steel fridge on the left, an open utensil drawer under a white countertop, the counter holds a knife, metal measuring spoon, and orange-handled pliers. White upper cabinets are above the counter, a gas stove with a stainless steel range hood sits to the counter's right, and a white-and-black robotic arm is positioned near the stove.", "global_instruction_dense": "The right robotic arm moves toward the open utensil drawer under the counter, reaches into it to grasp a utensil, lifts the utensil out, moves it to the counter and places it down, then grasps a fork from the drawer and places it on the countertop.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 671, "tasks": ["place utensil"], "length": 241, "global_instruction": "Place utensils from the kitchen counter into the open lower utensil drawer.", "scene_description": "A white kitchen counter next to a gas stove holds various small utensils, an open utensil drawer sits below the counter, a stainless steel refrigerator is to the left, and a robotic gripper is positioned on the right side of the frame.", "global_instruction_dense": "The right robotic gripper moves toward the utensils on the kitchen counter, grasps a utensil, lifts it, moves down to the open drawer below the counter, places the utensil inside the drawer, then moves back upward toward the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 672, "tasks": ["place utensil"], "length": 190, "global_instruction": "Place the orange-handled kitchen utensil from the counter into the open cutlery drawer", "scene_description": "A silver refrigerator is on the left, a white kitchen counter with multiple kitchen utensils (including an orange-handled tool) is next to a gas stove, an open cutlery drawer sits below the counter, and a right robotic gripper is positioned above the stove controls.", "global_instruction_dense": "The right robotic arm moves toward the orange-handled kitchen utensil on the counter, grasps it, lifts it, moves it over the open cutlery drawer, lowers it, places it into the drawer, then pulls upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 673, "tasks": ["place utensil"], "length": 250, "global_instruction": "Pick up the silver kitchen utensil from the counter and place it into the open utensil drawer", "scene_description": "A gas stove, small silver kitchen utensil, and open utensil drawer are on a white kitchen counter. A white robotic arm is positioned above the stove.", "global_instruction_dense": "The right robotic arm moves left toward the silver kitchen utensil on the counter, grasps it, lifts it, moves down to the open utensil drawer, lowers and places the utensil inside the drawer, then moves back up above the stove.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 674, "tasks": ["place utensil"], "length": 196, "global_instruction": "Take a utensil from the open kitchen drawer and place it on the adjacent countertop.", "scene_description": "An open cutlery drawer with utensils sits below a white kitchen counter, a gas stove is on the counter under a range hood with hanging utensils, a metallic refrigerator with a green light line is on the left, and a robotic arm is on the right.", "global_instruction_dense": "The right robotic arm moves toward the open cutlery drawer, grasps a utensil inside it, lifts the utensil out of the drawer, moves it onto the adjacent white countertop, releases the utensil, then retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 675, "tasks": ["place utensil"], "length": 188, "global_instruction": "Place a utensil from the open kitchen drawer onto the counter next to the gas stove.", "scene_description": "A stainless steel refrigerator is on the left of a kitchen, a gas stove with an overhead range hood is against the back wall, an open utensil drawer sits under the counter next to the stove, and a right robotic arm is positioned near the right side of the stove.", "global_instruction_dense": "The right robotic arm moves toward the open kitchen utensil drawer, grasps a green utensil from the drawer, lifts it upward, moves it over the white counter adjacent to the gas stove, lowers it onto the counter surface, and releases the utensil.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 676, "tasks": ["place utensil"], "length": 151, "global_instruction": "Take a utensil from the open drawer and place it on the kitchen countertop.", "scene_description": "A white kitchen countertop is adjacent to a stainless steel stove, an open utensil drawer sits below the counter, a small green object and a yellow-handled utensil rest on the counter, a robotic arm is on the right side, and a stainless steel refrigerator is on the left.", "global_instruction_dense": "The right robotic arm moves downward toward the open utensil drawer, grasps a utensil, lifts it, moves it over the white countertop, places it next to the small green object on the counter, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 677, "tasks": ["place utensil"], "length": 261, "global_instruction": "Take scissors and a knife from the open utensil drawer and place them on the kitchen countertop.", "scene_description": "A stainless steel refrigerator is on the left, an open utensil drawer sits under a white countertop holding a yellow-handled utensil, a small white-blue object, and a small green object, a gas stove and range hood are behind the counter, and a robotic arm is above the stove on the right.", "global_instruction_dense": "The right robotic arm moves down to the open utensil drawer, grasps a pair of scissors, lifts and places the scissors on the countertop, moves back to the drawer to grasp a knife, then lifts and places the knife on the countertop next to the scissors.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 678, "tasks": ["place utensil"], "length": 166, "global_instruction": "Place the red-handled kitchen utensil from the counter into the open utensil drawer.", "scene_description": "A kitchen with a stainless steel gas stove, white countertop holding small kitchen tools, an open lower drawer filled with utensils, and a robotic arm positioned above the stove.", "global_instruction_dense": "The right robotic arm moves from above the stove toward the red-handled utensil on the kitchen counter, grasps the utensil, moves it over the open lower utensil drawer, lowers the utensil into the drawer, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 679, "tasks": ["place utensil"], "length": 234, "global_instruction": "Take metal tongs from the open kitchen drawer and place them on the white countertop.", "scene_description": "A stainless steel refrigerator is on the left, an open utensil drawer sits below a white kitchen countertop with small tools on it, a gas stove with an overhead range hood is behind the counter, and a right robotic arm is positioned above the open drawer.", "global_instruction_dense": "The right robotic arm lowers into the open kitchen drawer, grasps the metal tongs, lifts them out of the drawer, moves them over the white countertop, lowers the tongs, and releases them onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 680, "tasks": ["place utensil"], "length": 171, "global_instruction": "Place the wooden utensil from the kitchen counter into the open utensil drawer", "scene_description": "A kitchen with white cabinetry, a gas stove under a metal range hood, an open utensil drawer below the white countertop, and silver vertical curtains on the left. A right robotic arm is positioned above the counter near the drawer.", "global_instruction_dense": "The right robotic arm moves left toward the wooden utensil on the kitchen counter, grasps it, lifts it, moves it downward over the open utensil drawer, and releases it into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 681, "tasks": ["place utensil"], "length": 301, "global_instruction": "Take a metal utensil from the open kitchen drawer and place it on the kitchen countertop.", "scene_description": "An open kitchen drawer with various utensils sits next to a white countertop with a gas stove, below a stainless steel range hood and white upper cabinets, a metallic partition is on the left, and a right robotic arm is near the drawer.", "global_instruction_dense": "The right robotic arm moves into the open kitchen drawer, grasps a metal utensil, lifts it out of the drawer, moves it over the adjacent kitchen countertop, lowers it, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 682, "tasks": ["place utensil"], "length": 453, "global_instruction": "Move a utensil from the stove into the cutlery drawer, then place a spoon from the drawer onto the kitchen counter.", "scene_description": "A white kitchen counter with a gas stove top, an open cutlery drawer beneath the counter holding various utensils, a metal utensil on the counter left of the stove, and a robotic arm positioned above the stove.", "global_instruction_dense": "The right robotic arm grasps a metal utensil from the gas stove, moves it to the open cutlery drawer and releases it inside, then grasps a metal spoon from the drawer, lifts it to the counter, and places it next to existing utensils on the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 683, "tasks": ["place utensil"], "length": 338, "global_instruction": "Retrieve a slotted spatula from the open kitchen drawer and place it on the countertop", "scene_description": "A white kitchen countertop holds a black spatula and two small metal measuring spoons. An open utensil drawer sits below the counter, a gas stove with a stainless steel pot is to the counter's right, white cabinets are mounted on the wall above the counter, and a stainless steel refrigerator is on the left edge of the view.", "global_instruction_dense": "The right robotic arm moves from above the gas stove to the open utensil drawer below the counter, grasps a slotted spatula from inside the drawer, lifts the spatula out, moves it over the countertop, places it next to the existing black spatula, then moves away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 684, "tasks": ["place utensil"], "length": 352, "global_instruction": "Place the small silver metal utensil on the kitchen counter into the open lower drawer", "scene_description": "A white kitchen countertop holds a black spatula, a small silver metal utensil, and a light-colored long utensil, adjacent to a gas stove. An open drawer with various kitchen utensils is below the counter, white wall cabinets are above the counter, and a silver refrigerator is to the left of the counter. A robotic arm is positioned above the stove.", "global_instruction_dense": "The right robotic gripper moves from above the gas stove to the small silver metal utensil on the counter, grasps it, lifts it, moves it over and lowers it into the open lower drawer, releases the utensil, then moves back to its position above the stove.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 685, "tasks": ["place utensil"], "length": 233, "global_instruction": "Pick a small black utensil from the open drawer and place it on the kitchen counter", "scene_description": "A white kitchen counter holds a black-handled spatula, a gray bowl, and a clear plastic container. A gas stove with a metal pot sits behind the counter, white upper cabinets are mounted on the wall, kitchen utensils hang under the range hood, a drawer below the counter is open, and a robotic arm is positioned above the stove.", "global_instruction_dense": "The right robotic arm moves downward into the open kitchen drawer, grasps a small black utensil, lifts it out of the drawer, moves it over the kitchen counter, lowers it, and releases it onto the counter next to the clear plastic container.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 686, "tasks": ["place utensil"], "length": 322, "global_instruction": "Hang the metal utensil rack onto the hook under the upper kitchen cabinet.", "scene_description": "A stainless steel pot rests on a black gas stovetop. To the left of the stove on the grey counter are a glass pot lid, a light blue lidded container, and a small metal utensil. Upper white cabinets with silver handles sit above the left counter, a metal hook hangs under the right edge of these cabinets, and a range hood is mounted above the stove. A white robotic arm is positioned on the right side of the stove, with a metal utensil rack on the stovetop near the arm.", "global_instruction_dense": "The right robotic gripper grasps the metal utensil rack from the gas stovetop, lifts it upward toward the hook under the upper left white cabinet, hangs the rack onto the hook, then releases the rack and moves away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 687, "tasks": ["place utensil"], "length": 337, "global_instruction": "Hang the metal whisk from the stainless steel pot onto the hook under the upper cabinet.", "scene_description": "A kitchen with a gas stove holding a stainless steel pot, a counter left of the stove with a glass lid, lidded light blue bowl and utensils, white upper cabinets, a range hood above the stove, hanging utensils on the back wall, and a right robotic arm near the right window.", "global_instruction_dense": "The right robotic arm moves from its position near the right window toward the stainless steel pot on the gas stove, grasps the metal whisk inside the pot, lifts the whisk, moves it to the hook under the left upper cabinet, hangs the whisk on the hook, then releases the gripper and moves slightly back.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 688, "tasks": ["place utensil"], "length": 250, "global_instruction": "Place the thin light-colored stick into the metal bowl inside the wooden cabinet.", "scene_description": "A brown wooden cabinet stands against a purple wall, with a small silver object on its top surface and a metal bowl in its open lower compartment; a white robotic arm is to the right of the cabinet, with string instruments on the wall behind and sofas in the background.", "global_instruction_dense": "The right robotic arm first moves the small silver object on the cabinet top aside, then grasps the thin light-colored stick, moves it toward the cabinet's open compartment, and releases it into the metal bowl inside the compartment.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 689, "tasks": ["place utensil"], "length": 234, "global_instruction": "Hang the metal whisk from the stove pot onto the upper cabinet's hanging hook.", "scene_description": "A kitchen with a gas stove, countertop, and upper white cabinets. A stainless steel pot sits on the stove, with a glass lid, plastic bowl, and small metal utensil on the counter left of the stove. A right robotic arm is positioned on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves toward the metal whisk inside the pot on the gas stove, grasps the whisk, lifts it out of the pot, moves it to the hanging hook under the upper cabinet, hangs the whisk on the hook, then moves away from the hook.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 690, "tasks": ["place utensil"], "length": 291, "global_instruction": "Place utensils from the open box under the cabinet into the cabinet's open storage compartment.", "scene_description": "A brown wooden cabinet stands against a purple wall, with a silver metal bowl on its top, string instruments hanging on the adjacent wall, an open cardboard box under the cabinet, and a white robotic arm positioned next to the cabinet.", "global_instruction_dense": "The right robotic gripper sequentially grabs a spatula and a white spoon from the open cardboard box under the brown wooden cabinet, lifts each item upward, moves it to the open storage compartment of the cabinet, places each item inside the cabinet, and returns to the box to retrieve the next item.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 691, "tasks": ["place utensil"], "length": 229, "global_instruction": "Take the metal ladle from inside the wooden cabinet and place it on the cabinet's top surface.", "scene_description": "A brown wooden cabinet is placed against a purple wall with a white light switch next to it, a silver metal ladle with a wooden handle is inside the cabinet's open compartment, a robotic arm is on the right, and the background has hanging instruments, a lit window, sofas and a lamp in the purple living room.", "global_instruction_dense": "The right robotic arm moves toward the open brown cabinet, grasps the metal ladle inside it, pulls the ladle out of the cabinet, lifts it upward, moves it over the cabinet's top surface, lowers the ladle onto the cabinet top, then releases the ladle and retracts its gripper.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 692, "tasks": ["place utensil"], "length": 229, "global_instruction": "Take the yellow-headed white-handled spatula from the open drawer and place it on the kitchen countertop.", "scene_description": "A light-colored kitchen countertop holds a wooden spatula, black-handled metal spatula, gray bowl, pot lid, and long metal spoon, with a gas stove with a stainless steel pot behind it, and an open utensil drawer below the counter holding scissors, knives, and various cooking tools.", "global_instruction_dense": "The right robotic arm moves toward the open kitchen utensil drawer, grasps the yellow-headed white-handled spatula inside the drawer, lifts it, moves it above the countertop, lowers it, and releases it to place it on the countertop.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 693, "tasks": ["place utensil"], "length": 134, "global_instruction": "Pick up the white-handled yellow-headed spatula from the counter and place it into the stainless steel pot on the gas stove.", "scene_description": "A white kitchen counter holds several utensils: a wooden slotted spatula, black scissors, black-handled metal spatula, light wooden spatula, white-handled yellow-headed spatula, knife, grey bowl, and pot lid, next to a gas stove with stainless steel pots on it, an open drawer under the counter with utensils inside, and a robotic arm positioned above the stove.", "global_instruction_dense": "The robotic arm moves down from above the stove to the counter, grasps the white-handled yellow-headed spatula, lifts it, moves it over the stainless steel pot on the stove, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 694, "tasks": ["place utensil"], "length": 128, "global_instruction": "Take the blue-handled utensil from the open drawer and place it on the kitchen counter.", "scene_description": "A light-colored kitchen counter holds a light wooden spatula, black scissors, black-handled spatula, and stainless steel pot with utensils. A gas stove with a gray bowl sits behind the counter, and an open drawer below the counter holds kitchen tools including a blue-handled utensil and wooden cutting boards.", "global_instruction_dense": "The right robotic arm moves toward the open drawer, grasps the blue-handled utensil inside, lifts it, moves it over the kitchen counter, and releases it to place the utensil on the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 695, "tasks": ["place utensil"], "length": 265, "global_instruction": "Place the yellow-headed spatula from the stainless steel pot into the open drawer below the kitchen counter.", "scene_description": "A kitchen counter holds a light wooden slotted spatula, black scissors, a black-handled flat spatula, and a stainless steel pot containing multiple utensils. A gas stove with a grey bowl sits behind the counter, and an open drawer below the counter holds a utensil organizer and wooden cutting boards.", "global_instruction_dense": "The right robotic arm moves toward the stainless steel pot on the kitchen counter, grasps the yellow-headed spatula inside the pot, lifts the spatula, moves it over the open drawer below the counter, lowers it into the drawer's utensil organizer, adjusts its position, then releases the spatula.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 696, "tasks": ["place utensil"], "length": 97, "global_instruction": "Place the black-handled metal spatula on the kitchen counter into the open drawer below the counter.", "scene_description": "A kitchen countertop holds a wooden slotted spatula, a black-handled metal spatula, a stainless steel pot with utensils inside, and a pot lid, with a gas stove behind the counter and an open cutlery drawer below the counter.", "global_instruction_dense": "The right robotic arm moves into view above the counter, grasps the black-handled metal spatula, lifts it, moves it over the open drawer, and releases it into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 697, "tasks": ["place utensil"], "length": 234, "global_instruction": "Take the white spatula with red handle from the stainless steel pot and place it into the open utensil drawer.", "scene_description": "A light-colored kitchen counter holds a stainless steel pot with utensils inside, a metal pot lid, and a wooden slotted spatula. Below the counter is an open drawer with organized utensils, a gas stove with a white bowl sits behind the counter, and a window with blinds is on the right.", "global_instruction_dense": "The right robotic arm moves down to the stainless steel pot on the counter, grasps the white spatula with red handle from inside the pot, lifts it, moves it over the open utensil drawer below the counter, lowers the spatula into the drawer, and releases it to complete the placement.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 698, "tasks": ["place utensil"], "length": 172, "global_instruction": "Take the yellow spatula from the open drawer and place it on the gas stove.", "scene_description": "A kitchen countertop holds a light gray lidded bowl, stainless steel pot, and wooden slotted spatula. An open drawer below the counter contains assorted utensils including a yellow spatula, red scissors, and wooden cutlery. A gas stove sits behind the counter next to a window with blinds on the right.", "global_instruction_dense": "The right robotic arm enters the frame, moves down toward the open utensil drawer, grasps the yellow spatula, lifts it out of the drawer, moves it over the gas stove, and releases it onto the stove surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 699, "tasks": ["place utensil"], "length": 171, "global_instruction": "Take a utensil from the stainless steel pot and place it into the open cutlery drawer.", "scene_description": "A light grey lidded pot, a stainless steel pot, and a wooden spatula sit on a white kitchen countertop. An open drawer below holds cutlery, wooden utensils, and knives, with a gas stove behind the counter.", "global_instruction_dense": "The right robotic arm moves toward the stainless steel pot on the countertop, grasps a long utensil inside the pot, lifts it out, moves it over the open cutlery drawer, lowers it, and releases it into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 700, "tasks": ["place utensil"], "length": 176, "global_instruction": "Place a wooden spatula onto the kitchen counter", "scene_description": "An open kitchen drawer filled with utensils (wooden spoons, knives, scissors) sits under a light-colored kitchen counter. On the counter, there is a light gray bowl holding red-handled scissors, a wooden spatula, and a metal spoon, with a gas stove behind the counter.", "global_instruction_dense": "The right robotic arm moves into view holding a wooden spatula, lowers it onto the kitchen counter surface, releases the spatula, and lifts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 701, "tasks": ["place utensil"], "length": 253, "global_instruction": "Hang a brown-handled cooking utensil on the wall hook and place another brown-handled cooking utensil on the kitchen counter.", "scene_description": "A white kitchen counter holds a gray bowl with red-handled scissors and scattered cooking utensils; an open drawer below holds organized cutlery and wooden tools, with a gas stove and wall-mounted utensil hooks in the background.", "global_instruction_dense": "The right robotic gripper moves into view holding a brown-handled cooking utensil, hangs it on the wall hook, then lowers another brown-handled cooking utensil and releases it onto the kitchen countertop.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 702, "tasks": ["place utensil"], "length": 267, "global_instruction": "Place a utensil from the light gray bowl on the kitchen counter into the utensil holder on the gas stove.", "scene_description": "A white kitchen counter holds a light gray bowl with red-handled scissors inside, assorted loose utensils, an open lower drawer full of utensils, and a gas stove in the background.", "global_instruction_dense": "The right robotic arm enters the frame, moves down to the light gray bowl on the kitchen counter, grasps a utensil from inside the bowl, lifts and moves it to the utensil holder on the gas stove, releases the utensil into the holder, then lifts away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 703, "tasks": ["place utensil"], "length": 271, "global_instruction": "Take a wooden utensil from the open drawer and place it on the kitchen countertop.", "scene_description": "An open drawer holding various utensils including wooden tools, scissors, and knives sits below a white kitchen countertop; the counter has a light gray bowl with tools, and a gas stove is in the background.", "global_instruction_dense": "The right robotic arm moves toward the open kitchen drawer, lowers into it to grasp a light wooden utensil, lifts the utensil out of the drawer, moves it over the countertop, and releases it onto the counter next to other tools.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 704, "tasks": ["place utensil"], "length": 157, "global_instruction": "Place the wooden cooking utensil from the kitchen counter into the open drawer below the counter.", "scene_description": "A white kitchen counter holds a light grey bowl with cutlery, several cooking utensils laid out on its surface, an open drawer below the counter contains organized utensils including scissors, knives and wooden tools, a gas stove with metal pots is positioned behind the counter, and a robotic arm is above the stove area.", "global_instruction_dense": "The robotic arm moves from above the stove toward the wooden cooking utensil on the counter, grasps it, lifts it, moves it down over the open drawer, releases it into the drawer among other utensils, then retracts upward slightly.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 705, "tasks": ["place utensil"], "length": 162, "global_instruction": "Place the slotted spatula on the kitchen counter into the open utensil drawer.", "scene_description": "A white kitchen counter holds a stainless steel bowl with scissors, several cooking utensils, and an open utensil drawer below it filled with cutlery and wooden tools; a gas stove with a metal pot sits in the background.", "global_instruction_dense": "The right robotic arm moves toward the slotted spatula on the kitchen counter, grasps it, lifts it, moves it over the open utensil drawer, and lowers it to place it inside the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 706, "tasks": ["place utensil"], "length": 265, "global_instruction": "Place the light wooden spatula on the kitchen counter into the open utensil drawer.", "scene_description": "A white kitchen countertop holds a metal bowl with scissors, a light gray bowl, two knives, and a gas stove with a stainless steel pot. An open drawer below the counter stores assorted wooden and metal utensils.", "global_instruction_dense": "The right robotic arm moves toward the light wooden spatula on the counter, grasps it, lifts it, moves it over the open utensil drawer, and releases it into the drawer among other utensils.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 707, "tasks": ["place utensil"], "length": 248, "global_instruction": "Place the yellow spatula on the stove edge into the metal cooking pot on the burner.", "scene_description": "A stainless steel gas stovetop is in the foreground, with a shiny metal cooking pot on a rear burner, a light gray plastic funnel next to the pot, a yellow silicone spatula resting on the stove edge, and a robotic gripper positioned in the upper right above the counter.", "global_instruction_dense": "The right positioned robotic gripper moves downward from its initial upper right position, grasps the yellow spatula on the stove edge, lifts the spatula, moves it over the metal cooking pot, releases the spatula into the pot, then moves upward away from the stovetop.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 708, "tasks": ["place utensil"], "length": 596, "global_instruction": "Place a metal measuring scoop into the large stainless steel pot on the stovetop.", "scene_description": "A stainless steel gas stovetop holds a large stainless steel pot on a rear burner and a light gray bowl on an adjacent rear burner. An open drawer with utensils is positioned to the right of the stove, a bright window is on the far right, and wall-mounted fixtures are above the stove.", "global_instruction_dense": "The right robotic gripper enters the frame from above, holds a metal measuring scoop, moves the scoop toward the large stainless steel pot on the stovetop, lowers the scoop into the pot, releases it, then moves away from the pot.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 709, "tasks": ["place utensil"], "length": 251, "global_instruction": "Place the yellow silicone spatula into the stainless steel pot on the gas stove.", "scene_description": "A stainless steel gas stove holds a stainless steel pot and a white bowl with a metal spoon inside on its burners. A counter with dark mats and round metal lids sits behind the stove, a partially open drawer with kitchen tools is to the right of the stove, and a window with blinds is on the far right, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm moves down toward the counter behind the gas stove, grasps the yellow silicone spatula, lifts it, moves it over the stainless steel pot on the stove, lowers the spatula into the pot, releases the spatula, and then moves away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 710, "tasks": ["place utensil"], "length": 255, "global_instruction": "Move the yellow spatula from the metal pot into the adjacent gray bowl", "scene_description": "A stainless steel stovetop has a metal pot with a yellow wooden-handled spatula on the left burner, and a light gray bowl with a metal spoon on the right burner. A counter with kitchen items sits behind the stove, a window with blinds is to the right, and a partially open drawer with tools is under the counter.", "global_instruction_dense": "The right robotic arm moves down to grasp the yellow spatula inside the metal pot on the stovetop, lifts the spatula, moves it over the light gray bowl on the adjacent burner, lowers the spatula into the bowl, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 711, "tasks": ["place utensil"], "length": 170, "global_instruction": "Place the metal whisk into the silver metal pot on the gas stovetop", "scene_description": "A stainless steel gas stovetop holds a silver metal pot and a small gray bowl with a light-colored spoon in it, a robotic arm is at the upper right, and a white countertop is behind the stove.", "global_instruction_dense": "The right robotic arm moves from the upper right toward the background counter, grasps the metal whisk, moves it over the silver pot on the stovetop, lowers it into the pot, releases the whisk, and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 712, "tasks": ["place utensil"], "length": 156, "global_instruction": "Place the yellow-headed spatula from the light gray bowl into the silver metal pot on the stovetop.", "scene_description": "A stainless steel kitchen stovetop holds a silver metal pot with a metal strainer inside on a left burner, and a light gray bowl with a yellow-headed light wood handle spatula resting inside on an adjacent right burner, with a window with horizontal blinds to the right of the stovetop.", "global_instruction_dense": "The right robotic gripper descends toward the light gray bowl on the stovetop, grasps the light wood handle of the yellow-headed spatula, lifts the spatula out of the bowl, moves it left over the silver metal pot, lowers it, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 713, "tasks": ["place utensil"], "length": 179, "global_instruction": "Pick the white-handled spatula from the metal pot and place it on the left side of the gas stovetop.", "scene_description": "A white bowl with light liquid sits on a yellow mat on the left of a metallic gas stovetop, a small metal pot with a white-handled spatula inside is on the right burner, and a window with blinds is to the right of the stove.", "global_instruction_dense": "The right robotic arm moves down toward the metal pot on the stovetop, grasps the white-handled spatula inside the pot, lifts and moves it leftward to the left side of the stovetop, lowers it onto the stove grate, releases the spatula, then moves upward away from the stove.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 714, "tasks": ["place utensil"], "length": 161, "global_instruction": "Pick the metal utensil from the metal pot on the stove and place it on the adjacent counter.", "scene_description": "A stainless steel gas stove holds a white bowl with pale liquid on a yellow mat on its left burner, and a metal pot with a metal utensil inside on its right burner, next to a light-colored counter near a blind-covered window.", "global_instruction_dense": "The right robotic arm moves toward the metal pot on the gas stove, grasps the metal utensil inside the pot, lifts it out of the pot, moves it rightward to the adjacent counter, and lowers it to place it on the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 715, "tasks": ["place utensil"], "length": 299, "global_instruction": "Place a metal utensil into the stainless steel pot on the gas stove.", "scene_description": "A stainless steel gas stove next to a window with blinds holds a white bowl of clear liquid on a yellow mat, a yellow-handled spatula, and a stainless steel pot with a metal utensil inside, with an open utensil drawer to the stove's right.", "global_instruction_dense": "The right robotic arm enters from the top right of the frame, moves to a metal utensil on the counter behind the stove, grasps it, lifts it, moves it over the stainless steel pot on the stove, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 716, "tasks": ["place utensil"], "length": 211, "global_instruction": "Place a metal utensil into the metal pot on the gas stove.", "scene_description": "A stainless steel gas stove with a metal pot on its burner sits in a kitchen. The left countertop holds two food cans, an orange cutting board with utensils, a frying pan, and a glass lid. A black oven mitt hangs on the wall above the counter, and the right robotic arm is positioned at the top right of the scene.", "global_instruction_dense": "The right robotic arm moves downward from its initial top-right position, grasps a metal utensil from the counter adjacent to the stove, lifts the utensil, moves it over the metal pot on the stove burner, lowers and releases the utensil into the pot, then moves back upward to its original position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 717, "tasks": ["place utensil"], "length": 275, "global_instruction": "Hang a metal utensil from the stovetop onto the hanging utensil rack under the upper cabinets.", "scene_description": "A stainless steel gas stovetop holds a dark metal pot and a light gray bowl, a white counter adjacent to the stove has a dark mat and round metal lid, white upper cabinets with hanging metal utensils are behind the stove, and a robotic arm is positioned at the top right of the view.", "global_instruction_dense": "The right robotic arm descends to the stovetop, grasps a metal utensil, lifts it, moves it to the hanging utensil rack under the upper cabinets, hangs the utensil on the rack, then moves back to its initial upper position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 718, "tasks": ["place utensil"], "length": 305, "global_instruction": "Pick up the metal whisk from the kitchen counter and place it into the pot on the gas stove.", "scene_description": "A stainless steel gas stove with a metallic pot on its left burner sits in a kitchen, a small gray bowl rests on the white countertop to the right of the stove, wall-mounted cabinets are above the counter, a window with blinds is on the far right, and a right robotic arm is positioned near the window.", "global_instruction_dense": "The right robotic arm moves downward toward the countertop right of the stove, grasps the metal whisk, lifts it, moves it left over the stainless steel pot on the stove, releases the whisk to drop it into the pot, then moves upward away from the stove.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 719, "tasks": ["place utensil"], "length": 228, "global_instruction": "Place the yellow spatula near the stove to the left of the black oven mitt on the kitchen counter.", "scene_description": "A kitchen countertop below white wall cabinets holds a black oven mitt, a metal pan, a glass lid, a red-and-white can, and multiple utensils next to a stainless steel gas stove with a metal pot on its burner. A robotic gripper is positioned in the upper right above the stove.", "global_instruction_dense": "The right robotic arm moves downward from the upper right area toward the yellow spatula near the stove, grasps the spatula with its gripper, moves it leftward across the counter, places it to the left of the black oven mitt, releases the spatula, and lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 720, "tasks": ["place utensil"], "length": 377, "global_instruction": "Place the countertop yellow-and-white spatula into the open kitchen utensil drawer and organize the drawer contents.", "scene_description": "A stainless steel refrigerator sits left of a white kitchen countertop holding black oven mitts, a silver metal bowl, a knife, and a yellow-and-white spatula under the mitts. An open drawer below the counter holds wooden utensils, scissors, and kitchen tools, a gas stove with cookware is right of the counter, and a robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm descends toward the kitchen counter, grasps the yellow-and-white spatula under the black oven mitts, lifts the spatula, moves it over the open utensil drawer, places it into the drawer, adjusts the wooden utensils in the drawer to arrange them, then moves upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 721, "tasks": ["place utensil"], "length": 172, "global_instruction": "Take a kitchen utensil from the open drawer and place it on the countertop next to the stove.", "scene_description": "A stainless steel refrigerator is on the left, an open dark gray drawer with wooden cooking utensils sits below a white countertop, a gas stove is to the right of the counter, and a robotic gripper is positioned at the top right above the stove area.", "global_instruction_dense": "The right robotic gripper moves downward toward the open utensil drawer, grasps a dark utensil from inside the drawer, lifts it out of the drawer, moves it over to the white countertop adjacent to the gas stove, releases the utensil onto the counter, then moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 722, "tasks": ["place utensil"], "length": 198, "global_instruction": "Place the metal utensil from the stovetop into the open kitchen utensil drawer.", "scene_description": "A stainless steel refrigerator is on the left, next to a white kitchen counter with a small red-and-white can and black oven mitts. An open drawer under the counter holds assorted wooden utensils, a stainless steel stove is to the right of the counter, and a robotic arm is positioned above the stove.", "global_instruction_dense": "The right robotic gripper moves toward the metal utensil on the stovetop, grasps it, lifts it, moves it over the open utensil drawer, and releases it into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 723, "tasks": ["place utensil"], "length": 170, "global_instruction": "Pick up the yellow spatula behind the stove pots and place it into the rightmost stainless steel pot.", "scene_description": "A kitchen gas stove with two stainless steel pots sits adjacent to a light speckled countertop holding a glass pot lid and a small flat utensil. Hanging cooking utensils cast shadows on the white tile backsplash, a robotic arm is positioned above the right side of the stove, and a yellow spatula rests behind the pots on the stove surface.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow spatula behind the pots on the stove, grasps the spatula with its gripper, lifts the spatula, moves it over the rightmost stainless steel pot on the stove, lowers the spatula into the pot, releases the spatula, then moves upward back to its initial position above the stove.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 724, "tasks": ["place utensil"], "length": 356, "global_instruction": "Move the front left stainless steel pot to the right stovetop, then remove the metal cooking utensil from the pot and place it on the kitchen counter.", "scene_description": "A gas stovetop with two stainless steel pots sits adjacent to a light-colored kitchen counter holding a can of pumpkin puree, with a right robotic gripper positioned above the right side of the stovetop near the window.", "global_instruction_dense": "The right robotic arm moves left to grasp the front left stainless steel pot on the stovetop, lifts it, moves it right to place it beside the other pot on the rear stovetop, then grasps the metal cooking utensil inside the moved pot, lifts it, moves it left over the counter, and releases it onto the counter next to the can of pumpkin puree.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 725, "tasks": ["place utensil"], "length": 298, "global_instruction": "Take a metal ladle from the utensil holder on the gas stove and place it into the silver frying pan on the kitchen counter.", "scene_description": "A light beige kitchen counter holds a silver frying pan, a glass pot lid, a small brown-handled brush, two metal cans, and a gas stove with a metal utensil holder full of cutlery on its surface; a black oven mitt hangs above the stove, and a window with blinds is to the right of the stove.", "global_instruction_dense": "The right robotic arm moves left from the right side of the frame toward the metal utensil holder on the gas stove, grasps a metal ladle from the holder, lifts the ladle, moves left to position it over the silver frying pan on the counter, lowers the ladle into the pan, releases it, then moves upward and right back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 726, "tasks": ["place utensil"], "length": 195, "global_instruction": "Take a metal utensil from the open drawer and place it on the kitchen counter.", "scene_description": "A kitchen counter holds a white container with a green lid, a clear plastic water bottle, and a small clear glass. An open drawer with metal utensils sits below the counter, with a right robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm lowers into the open drawer under the kitchen counter, grasps a metal utensil, lifts it out of the drawer, moves it over the counter, lowers and releases it onto the counter next to the small glass, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 727, "tasks": ["place utensil"], "length": 292, "global_instruction": "Retrieve a utensil from the open drawer and place it on the kitchen countertop", "scene_description": "A kitchen counter holds a white bucket with a green lid, a stainless steel thermos, and small red items. An open drawer below the counter contains utensils, and a white robotic arm is positioned to the right of the counter.", "global_instruction_dense": "The left robotic gripper moves down toward the open kitchen drawer, grasps a metal utensil inside the drawer, lifts the utensil out of the drawer, moves it over the countertop surface, lowers it, and releases it onto the counter before moving back upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 728, "tasks": ["place utensil"], "length": 216, "global_instruction": "Pick up a kitchen utensil from the counter and place it into the dish rack next to the sink.", "scene_description": "A dark kitchen cabinet with silver handles has a light countertop holding a white bucket with green accents, a silver thermos, small utensils, and a red item; a sink is in the background, with a white robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward a kitchen utensil on the countertop, grasps it, lifts it, transports it to the dish rack beside the sink, releases the utensil into the rack, then returns to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 729, "tasks": ["place utensil"], "length": 347, "global_instruction": "Place small kitchen utensils from the counter into the open drawer below the counter.", "scene_description": "A kitchen countertop holds a white container with a green lid, silver carafe, metal measuring spoons, and small red objects; an open wooden drawer sits under the counter, with a robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the kitchen counter, grasps small utensils from the counter, moves them over the open drawer, releases them into the drawer, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 730, "tasks": ["place utensil"], "length": 233, "global_instruction": "Remove the utensil from the silver holder, reposition the holder on the counter, then place the utensil back into the holder.", "scene_description": "A white kitchen counter holds a green-lidded white storage container, multiple metal kitchen tools, a metal bowl, and a silver utensil holder with a tall light-colored utensil inside, in front of a windowed sink area, with a left robotic arm positioned on the right of the scene.", "global_instruction_dense": "The left robotic arm moves toward the silver utensil holder on the kitchen counter, grasps the tall utensil inside, lifts the utensil out, moves the silver holder to a new position on the counter, then lowers and places the utensil back into the repositioned holder.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 731, "tasks": ["place utensil"], "length": 327, "global_instruction": "Rinse the small metal measuring scoop from the counter and place it into the small metal container next to the sink.", "scene_description": "A white kitchen countertop holds a green-lidded white storage bin on its left, three metal measuring scoops to the bin's right, a metal bowl, and small containers next to the sink; a robotic arm is positioned on the right side, with a window with blinds and a door on the far left of the scene.", "global_instruction_dense": "The right robotic arm moves left toward the small metal measuring scoop on the kitchen counter, grasps it, lifts it, transports it to the sink faucet to rinse, moves it to the small cylindrical metal container next to the sink, places the scoop inside the container, then retracts upward away from the container.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 732, "tasks": ["place utensil"], "length": 165, "global_instruction": "Place the utensil from the stainless steel pot near the sink into the empty stainless steel bowl on the kitchen counter.", "scene_description": "A light-colored kitchen counter holds a small silver pitcher, a white container with a green lid, two stainless steel bowls, and a stainless steel pot near a sink with a curved faucet. A robotic arm is positioned to the right of the counter, an open drawer with glassware sits below the counter, and a window with horizontal white blinds is to the left of the counter.", "global_instruction_dense": "The right robotic arm moves toward the stainless steel pot next to the kitchen sink, grasps the utensil inside the pot, lifts the utensil, moves it leftward over the adjacent empty stainless steel bowl, and releases the utensil into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 733, "tasks": ["place utensil"], "length": 187, "global_instruction": "Pick the metal tongs from the silver bowl and place them into the small silver pot near the sink.", "scene_description": "A kitchen countertop holds a silver bowl with metal tongs inside, a silver pitcher, a white container with a green lid, a rolling pin, a small silver pot near the sink, and an open utensil drawer below the counter.", "global_instruction_dense": "The left robotic arm moves toward the silver bowl on the countertop, grasps the metal tongs inside the bowl, lifts the tongs, moves them over the small silver pot near the sink, lowers the tongs, and releases them into the pot.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 734, "tasks": ["place utensil"], "length": 249, "global_instruction": "Take a metal utensil from the open drawer and place it into the silver pot on the kitchen counter.", "scene_description": "A kitchen counter holds a silver mixing bowl, silver metal shaker, green-lidded storage container, white rolling pin, small green object, blue pen, and silver pot near the sink. An open drawer with utensils sits under the counter, a white robotic arm is positioned to the right of the counter, and windows with blinds and wall shelves are in the background.", "global_instruction_dense": "The left robotic arm moves toward the open utensil drawer under the counter, grasps a cylindrical metal utensil, lifts it out of the drawer, moves it over the silver pot on the counter, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 735, "tasks": ["place utensil"], "length": 211, "global_instruction": "Place utensils from the kitchen counter into the black dish rack.", "scene_description": "A stainless steel sink sits under a window with white horizontal blinds on a kitchen counter. A black pull-down faucet is mounted beside the sink, a black dish rack is on the counter behind the sink, and a robotic arm is positioned on the right side of the counter.", "global_instruction_dense": "The right robotic arm grasps utensils from the kitchen counter, lifts them, moves them to the black dish rack, inserts them into the rack, and repeats the process for another utensil.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 736, "tasks": ["place utensil"], "length": 368, "global_instruction": "Place utensils from the dish rack onto the countertop next to the sink.", "scene_description": "A kitchen countertop next to a window with white horizontal blinds holds a stainless steel sink with a black spring faucet, a black utensil dish rack to the right of the sink, and a robotic arm positioned near the dish rack.", "global_instruction_dense": "The right robotic arm repeatedly reaches into the black dish rack, grasps a utensil, moves it over the counter space to the left of the rack, releases it onto the counter, then returns to the rack to retrieve another utensil, placing multiple utensils on the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 737, "tasks": ["place utensil"], "length": 212, "global_instruction": "Place the metal cutlery on the kitchen counter into the black cutlery rack.", "scene_description": "A kitchen sink with a black pull-down faucet sits below a window with white horizontal blinds. The light gray countertop to the sink's right holds a black cutlery rack and a metal fork, with a right robotic arm positioned above the sink edge.", "global_instruction_dense": "The right robotic arm moves to the metal fork on the counter, grasps it, lifts it, moves it to the black cutlery rack, places it inside, then moves toward a metal utensil on the counter to continue sorting.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 738, "tasks": ["place utensil"], "length": 641, "global_instruction": "Take utensils from the black holder, place them on the counter beside the sink, then move toward the sink faucet.", "scene_description": "A kitchen counter with a stainless steel sink and black spring-neck pull-down faucet sits next to a window with white horizontal blinds; a Franka Emika robotic arm is positioned to the right of the sink, with a black utensil holder between the arm and the sink.", "global_instruction_dense": "The right robotic arm moves to the black utensil holder next to the sink, grasps and lifts multiple utensils one by one, places each on the empty counter space between the holder and the sink, then moves left toward the sink's faucet.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 739, "tasks": ["place utensil"], "length": 416, "global_instruction": "Pick up utensils from the kitchen sink and place them into the dish rack", "scene_description": "A stainless steel sink sits under a window with white horizontal blinds, a pull-down sprayer faucet is mounted at the sink's rear, a black dish rack is placed on the counter to the sink's right, and a robotic arm is positioned above the sink.", "global_instruction_dense": "The right robotic arm moves down into the kitchen sink, grasps utensils one at a time, lifts each utensil, moves it right over the black dish rack, and places the utensil into the rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 740, "tasks": ["place utensil"], "length": 174, "global_instruction": "Take cutlery from the black cutlery holder and place the cutlery on the kitchen counter.", "scene_description": "A kitchen counter sits next to a window with white horizontal blinds, with a stainless steel sink and black spring faucet on the left, a black cutlery holder on the counter, and a robotic arm on the right side of the frame.", "global_instruction_dense": "The right robotic arm approaches the black cutlery holder on the kitchen counter, grasps cutlery items, lifts them out of the holder, and places them onto the counter surface beside the holder.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 741, "tasks": ["place utensil"], "length": 219, "global_instruction": "Pick up the metal utensils on the kitchen counter and place them into the black dish rack.", "scene_description": "A kitchen counter next to a window with white horizontal blinds holds a stainless steel sink with a black spring faucet, several metal utensils right of the sink, a black dish rack further right, and a white robotic arm at the far counter edge.", "global_instruction_dense": "The right robotic arm moves down to grasp a metal utensil from the kitchen counter, lifts the utensil, moves it to the black dish rack, places it into a rack slot, then moves back toward the remaining utensils.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 742, "tasks": ["place utensil"], "length": 265, "global_instruction": "Take utensils from the black utensil holder and place them on the kitchen counter.", "scene_description": "A kitchen counter next to a window with white horizontal blinds has a stainless steel sink with a black spring faucet, a black utensil holder full of utensils to the right of the sink, and a robotic arm positioned near the sink.", "global_instruction_dense": "The right robotic arm reaches into the black utensil holder, grasps utensils one at a time, lifts them out, and places each on the open kitchen counter space next to the holder.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 743, "tasks": ["place utensil"], "length": 190, "global_instruction": "Pick up the metal utensil from the kitchen sink and place it on the adjacent countertop.", "scene_description": "A stainless steel kitchen sink with a black pull-down spring faucet sits below a window with white horizontal blinds. A white and grey robotic arm is positioned on the right of the grey counter next to the sink, with shelves and a black utensil holder in the background.", "global_instruction_dense": "The right robotic arm extends toward the kitchen sink, grasps the metal utensil inside the sink, lifts it out of the sink, moves it to the countertop beside the sink, releases the utensil onto the counter, then retracts slightly.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 744, "tasks": ["place utensil"], "length": 429, "global_instruction": "Place the paper cup and cutlery from the kitchen counter into the dish rack.", "scene_description": "A stainless steel sink sits below a window with white horizontal blinds on a kitchen counter. A speckled paper cup, two pieces of metal cutlery, and a black dish rack are positioned to the right of the sink, with a right robotic arm near the dish rack.", "global_instruction_dense": "The right robotic arm grasps the speckled paper cup from the counter, lifts it and places it into the black dish rack, then sequentially grasps each piece of metal cutlery from the counter, lifts each, and places each into the dish rack.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 745, "tasks": ["place utensil"], "length": 407, "global_instruction": "Retrieve a paper cup and utensils from the dish rack, set the cup on the counter, and place the utensils into the cup.", "scene_description": "A stainless steel sink with a black spring faucet sits below a window with white horizontal blinds on a gray kitchen counter. A black dish rack is on the counter to the right of the sink, and a right robotic arm is positioned near the dish rack.", "global_instruction_dense": "The right robotic arm first picks a paper cup from the black dish rack, places it on the gray kitchen counter next to the sink, then sequentially picks two utensils from the dish rack, moves each over the paper cup, and releases them into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 746, "tasks": ["place utensil"], "length": 384, "global_instruction": "Place utensils from the dotted paper cups into the black utensil rack and stack the empty paper cups.", "scene_description": "A kitchen counter below a window with white horizontal blinds has a stainless steel sink, a dotted paper cup right of the sink, a black utensil rack behind the cup, and a white robotic arm at the right edge of the counter.", "global_instruction_dense": "The right robotic arm first places a dotted paper cup next to an existing dotted paper cup on the counter, then grasps utensils from the cups one by one and places them into the black utensil rack, then stacks one empty dotted paper cup on top of the other.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 747, "tasks": ["place utensil"], "length": 276, "global_instruction": "Pick up the slotted metal utensil from the small metal pot and place it into the front stainless steel cup.", "scene_description": "A kitchen counter holds a black and silver coffee maker, blue patterned decorative plate, multiple stainless steel containers including a small front cup, a black-lidded container, and a small metal pot, with a stainless steel microwave mounted in upper white cabinets, and a robotic arm at the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the small stainless steel pot on the kitchen counter, grasps the slotted metal utensil inside the pot, lifts the utensil, moves it left over the front stainless steel cup, lowers the utensil, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 748, "tasks": ["place utensil"], "length": 240, "global_instruction": "Pick the metal scoop from the stainless steel pot and place it on the kitchen counter", "scene_description": "A white kitchen counter holds a silver electric kettle, a coffee maker with a green scrubber on top, a blue-and-white patterned decorative plate, multiple stainless steel canisters, and a stainless steel pot containing a metal scoop. Upper white cabinets with a built-in stainless steel microwave are above the counter, and a white-and-black robotic arm is positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the stainless steel pot on the kitchen counter, grasps the metal scoop inside the pot, lifts the scoop, moves it leftward across the counter, lowers the scoop, and releases it onto the counter near the small stainless steel pitcher.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 749, "tasks": ["place utensil"], "length": 232, "global_instruction": "Pick up the wooden chopstick from the counter and place it into the metal bowl.", "scene_description": "A white and black Franka robotic arm is positioned above a light kitchen countertop, which holds a wooden chopstick, multiple metal spoons, a blue patterned decorative plate, a coffee maker, a small stainless steel canister, a microwave in upper white cabinets, and a metal bowl on the right counter section.", "global_instruction_dense": "The right robotic gripper moves down toward the wooden chopstick on the left counter, grasps the chopstick, lifts it, moves right to position above the metal bowl, and releases the chopstick into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 750, "tasks": ["place utensil"], "length": 182, "global_instruction": "Pick up the metal tongs from the kitchen counter and place them into the stainless steel pot.", "scene_description": "A white and black Franka Emika robotic arm is positioned on the right side of a kitchen counter, which holds stainless steel containers, a blue decorative plate, a silver kettle, a microwave mounted in upper white cabinets, and metal tongs on the counter surface.", "global_instruction_dense": "The right robotic arm moves toward the metal tongs on the kitchen counter, grasps them with its gripper, lifts them, moves them leftward over the counter, and positions them above the stainless steel pot to be placed inside.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 751, "tasks": ["place utensil"], "length": 233, "global_instruction": "Place the metal utensils from the kitchen counter into the small silver metal pot.", "scene_description": "A kitchen counter with upper white cabinets holding a stainless steel microwave. On the counter: a stainless steel kettle, coffee machine with a green object on top, blue patterned plate leaning against the backsplash, black-lidded silver container, white paper towel roll, small silver metal pot, several small metal utensils next to the pot, and a Franka Emika right robotic arm at the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves toward the small metal utensils on the kitchen counter, grasps the utensils, lifts them, moves them over the small silver metal pot, releases them into the pot, then returns to grasp another utensil.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 752, "tasks": ["place utensil"], "length": 316, "global_instruction": "Place a wooden stir stick into the stainless steel pitcher on the kitchen counter.", "scene_description": "A kitchen counter holds a stainless steel pitcher with a wooden stir stick inside, a black coffee maker, a blue patterned decorative plate, small metal utensils, and a stainless steel microwave is mounted on the cabinets above the counter. A white right robotic arm is positioned above the counter surface.", "global_instruction_dense": "The right robotic arm lowers toward a wooden stir stick on the counter, grasps it with its gripper, lifts the stick, moves it over the stainless steel pitcher, and releases it into the pitcher.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 753, "tasks": ["place utensil"], "length": 215, "global_instruction": "Place wooden sticks from the stainless steel saucepan into the metal container on the left of the counter", "scene_description": "White upper kitchen cabinets with an integrated stainless steel microwave are mounted above a white kitchen countertop. On the counter: a glass kettle, a silver and black drip coffee maker, a blue and white patterned decorative plate, a small black and silver canister, a stainless steel saucepan, scattered metal utensils, and a roll of white paper towels. A white robotic arm is positioned above the right end of the counter.", "global_instruction_dense": "The right robotic arm moves toward the stainless steel saucepan, grasps a wooden stick from it, lifts the stick, moves left to release it into the left metal container, then returns to the saucepan to grasp another wooden stick.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 754, "tasks": ["place utensil"], "length": 221, "global_instruction": "Place the scattered silver metal utensils on the kitchen counter into the stainless steel saucepan.", "scene_description": "A white kitchen counter under white upper cabinets with an integrated silver microwave holds a black-and-silver coffee maker on the left, a blue patterned decorative plate propped against the backsplash, a small silver lidded container next to the plate, a stainless steel saucepan, scattered silver metal utensils near the saucepan, and a white paper towel roll on the right side of the counter; a white robotic arm is positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the scattered silver metal utensils on the kitchen counter, grasps a group of the utensils with its gripper, lifts the utensils, moves them over the stainless steel saucepan, and releases them into the saucepan.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 755, "tasks": ["place utensil"], "length": 298, "global_instruction": "Place small metal utensils from the kitchen countertop into the stainless steel measuring cup.", "scene_description": "A white Franka Emika robotic arm is positioned on the right side of a white kitchen countertop. On the counter, a stainless steel measuring cup sits adjacent to several small metal utensils, a blue patterned decorative plate leans against the wall behind the cup, a silver microwave is mounted in upper white cabinets above the counter, and a coffee maker rests on the left side of the counter, with a green wall visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the small metal utensils on the kitchen counter, grasps each utensil sequentially, lifts each utensil, moves it over the stainless steel measuring cup, and releases each utensil into the cup.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 756, "tasks": ["place utensil"], "length": 266, "global_instruction": "Pick up the metallic whisk from its storage container and place it on the kitchen counter", "scene_description": "A white kitchen counter holds a small stainless steel pot, blue-silver thermos, black coffee maker, blue patterned decorative plate, stainless steel frothing pitcher, and paper towel roll, with a stainless steel microwave mounted in upper white cabinets above the counter, and a robotic arm positioned at the right of the counter.", "global_instruction_dense": "The right robotic arm moves left toward the metallic whisk stored in a container behind the thermos, grasps the whisk, lifts it out of the container, moves it over the counter next to the thermos, lowers it, places it upright on the counter, then releases it and moves away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 757, "tasks": ["place utensil"], "length": 257, "global_instruction": "Take a chopstick from the open cutlery drawer and place it on the white paper on the kitchen counter.", "scene_description": "A white kitchen counter has an open cutlery drawer with sorted silverware, a white paper with a silver knife on it, a dotted white cup, a metallic kettle, and a stainless steel microwave in the upper left cabinet; a Franka robotic arm is positioned to the right of the drawer, with a green wall, window, and brown trash bin in the background.", "global_instruction_dense": "The right robotic arm moves into the open cutlery drawer, grasps a wooden chopstick, lifts it out of the drawer, moves it over the white paper on the kitchen counter, and releases it onto the paper.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 758, "tasks": ["place utensil"], "length": 240, "global_instruction": "Pick a metal utensil from the open cutlery drawer and place it on the kitchen counter.", "scene_description": "A light-colored kitchen counter has assorted loose utensils on its surface, an open cutlery drawer with sorted silverware sits below the counter, a white Franka Emika robotic arm is positioned to the right of the drawer, upper cabinets with a built-in microwave are above the counter, and a green wall is in the background.", "global_instruction_dense": "The right robotic arm moves its gripper down into the open cutlery drawer, grasps a metal utensil, lifts it out of the drawer, moves it over the adjacent kitchen counter, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 759, "tasks": ["place utensil"], "length": 153, "global_instruction": "Move a chopstick from the utensil pile to the left section of the kitchen counter", "scene_description": "A light-colored kitchen counter holds a pile of utensils (chopsticks, spoon, fork, knife), a silver kettle with a black lid, a white dotted cup, and a patterned blue plate on the left. A robotic arm is positioned above the counter, with a green wall and white table in the background.", "global_instruction_dense": "The right robotic arm lowers toward the utensil pile on the kitchen counter, grasps a chopstick, lifts it, moves it left to an empty spot on the counter, releases the chopstick, and lifts slightly upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 760, "tasks": ["place utensil"], "length": 405, "global_instruction": "Place the silver spoon and silver knife from the white cutting board onto the left open area of the kitchen counter.", "scene_description": "A kitchen counter has a stainless steel microwave above it, a silver black-lidded kettle, blue patterned plate, white polka-dot cup, white cutting board with a silver spoon and knife, metal claw tool, chopsticks, pink plate with a fork, clear glass, and a robotic arm positioned to the counter's right.", "global_instruction_dense": "The right robotic arm moves to the white cutting board, grasps the silver spoon, moves it left and places it on the open counter, then moves back to grasp the silver knife, moves it left and places it next to the spoon before lifting its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 761, "tasks": ["place utensil"], "length": 250, "global_instruction": "Pick a utensil from the open kitchen drawer and place it on the gas stove", "scene_description": "An open kitchen drawer holding various utensils sits below a robotic arm. A gas stove is positioned behind the drawer, a stainless steel appliance is to the left, the floor is wooden, and kitchen items hang above the stove.", "global_instruction_dense": "The right robotic arm moves down into the open kitchen drawer, grasps a utensil, lifts it out, moves it over the gas stove, places the utensil on the stove surface, then retracts upward away from the stove.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 762, "tasks": ["place utensil"], "length": 264, "global_instruction": "Place a utensil from the open kitchen drawer onto the adjacent kitchen countertop.", "scene_description": "An open kitchen drawer filled with utensils is next to a stainless steel refrigerator on the left, a gas stove with a metal pot is in the background, and the right robotic arm is positioned above the open drawer on light wooden kitchen flooring.", "global_instruction_dense": "The right robotic arm lowers into the open kitchen drawer, grasps a utensil, lifts it, moves it over the nearby kitchen counter, lowers the utensil, and releases it onto the countertop before moving upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 763, "tasks": ["place utensil"], "length": 294, "global_instruction": "Pick a utensil from the open kitchen drawer and place it on the countertop above the drawer.", "scene_description": "A stainless steel appliance is on the left, an open kitchen drawer filled with light-colored utensils sits below a counter with a gas stove in the background, and a left robotic arm is positioned above the drawer, with wooden floor visible on the right.", "global_instruction_dense": "The left robotic arm moves down into the open utensil drawer, grasps a light-colored utensil, lifts it, moves it leftward to the countertop above the drawer, releases the utensil to place it, then returns to its initial position above the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 764, "tasks": ["place utensil"], "length": 368, "global_instruction": "Take a cooking utensil from the open drawer and place it on the gas stove.", "scene_description": "A kitchen counter with a gas stove, an open utensil drawer below the counter, a white robotic arm above the stove, a black hanging oven mitt, and a stainless steel refrigerator on the left.", "global_instruction_dense": "The right robotic arm moves down toward the open utensil drawer, grasps a light cooking utensil, lifts it out of the drawer, moves it over the gas stove, places it on the stove surface, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 765, "tasks": ["place utensil"], "length": 482, "global_instruction": "Place cooking utensils from the kitchen countertop into the open utensil drawer.", "scene_description": "An open kitchen drawer filled with white plastic cooking utensils sits below a white countertop, a stainless steel refrigerator is on the left, a stove area is in the background, and a robotic arm is positioned above the drawer.", "global_instruction_dense": "The right robotic arm first arranges items inside the open kitchen drawer, moves to the adjacent countertop to grasp a cooking utensil, transports the utensil back to the drawer and places it inside, adjusts the placed utensil, then moves upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 766, "tasks": ["place utensil"], "length": 230, "global_instruction": "Pick up the utensil from the gas stove and place it into the open cutlery drawer.", "scene_description": "A stainless steel refrigerator is on the left of a kitchen, an open cutlery drawer filled with utensils sits to the right of the fridge, a gas stove with cookware is behind the drawer, and a robotic arm is positioned above the stove.", "global_instruction_dense": "The right robotic arm moves toward the utensil on the gas stove, grasps it, lifts and moves it to the open cutlery drawer, releases the utensil into the drawer, then moves upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 767, "tasks": ["place utensil"], "length": 258, "global_instruction": "Pick up the wooden-handled utensil from the tiered glass stand and place it on the kitchen countertop.", "scene_description": "A kitchen area with a light grey countertop adjacent to a stainless steel gas stove. A two-tier glass stand, an orange small container, and other small items sit on the countertop. A black oven mitt hangs from the range hood above the stove, and a robotic arm is positioned above the stove.", "global_instruction_dense": "The right robotic arm moves left from above the gas stove toward the two-tier glass stand on the countertop, grasps the wooden-handled utensil resting on the stand, lifts and adjusts the utensil, lowers it onto the countertop next to the stand, then releases the utensil and moves back toward the stove.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 768, "tasks": ["place utensil"], "length": 367, "global_instruction": "Pick up the scattered metal cutlery on the table and place them into the metal bowl.", "scene_description": "A white table holds a metal bowl with green and blue sponges at its center, a white robotic arm on the left of the table, plus a black laptop, yellow bowl, spray bottle, tissue box, and scattered metal cutlery, with a Toyota Research Institute screen and chairs in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the scattered cutlery on the table, grasps each piece of cutlery individually, lifts it, moves it over the metal bowl holding green and blue sponges, releases the cutlery into the bowl, and moves back upward after all pieces are placed.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 769, "tasks": ["place utensil"], "length": 140, "global_instruction": "Pick up the black tongs on the table and place them near the remote control on the table.", "scene_description": "A white table holds a green Sprite can, a bowl of colorful blocks, a plate with green cone objects, black tongs, a remote control, a wooden shape sorting box, a spray bottle, a tissue box and other small items, with a white robotic arm positioned at the upper left above the table in the initial frame.", "global_instruction_dense": "The right robotic arm moves downward toward the black tongs on the upper part of the table, grasps the tongs, lifts and moves them rightward to the area near the remote control, lowers and releases the tongs onto the table, then lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 770, "tasks": ["place utensil"], "length": 284, "global_instruction": "Pick up wooden chopsticks from the white bowl and place them on the white table.", "scene_description": "A white table holds a white bowl with a red block and wooden chopsticks, a box of multicolored building blocks, a beige water bottle, a blue spray bottle, a brown package, a black laptop, a green soda can, a remote control, and a blue block on a blue-and-white patterned plate; two white robotic arms are at the left side of the table, with the right robotic arm initially raised near the background window.", "global_instruction_dense": "The right robotic arm moves down from its raised initial position, grasps the wooden chopsticks inside the white bowl, lifts and moves the chopsticks over the box of colorful blocks, then lowers and releases the chopsticks onto the white tabletop near the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 771, "tasks": ["place utensil"], "length": 249, "global_instruction": "Place a wooden chopstick into the white bowl on the table.", "scene_description": "A white table holds a white bowl with red and green blocks and one wooden chopstick, a small blue-and-white plate with a blue block, an open brown cardboard box, a beige water bottle, a blue spray bottle, a box of multi-colored blocks, a remote control, and other small items. A left robotic arm is on the left edge of the table, and the right robotic arm is initially above the top frame edge. The background has a Toyota Research Institute screen, office chairs, and glass doors to a balcony.", "global_instruction_dense": "The right robotic arm first repositions the blue spray bottle, then grasps a wooden chopstick, moves it over the white bowl, and places it inside the bowl next to the existing chopstick.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 772, "tasks": ["place utensil"], "length": 339, "global_instruction": "Place the wooden sticks from the small light wooden box into the white bowl of colorful building blocks.", "scene_description": "A white table holds a small light wooden box with two thin wooden sticks inside, a white bowl of multicolored building blocks, a patterned plate of multicolored building blocks, a beige bottle, a purple-green spray bottle, a green soda can, a tray of small colorful objects, a beige perforated box, and other office items. A white robotic arm is positioned above the upper area of the table, with a screen showing the Toyota Research Institute logo, office chairs, and an outdoor balcony in the background.", "global_instruction_dense": "The right robotic arm moves down to the small light wooden box on the table, grasps the thin wooden sticks inside it, lifts the sticks, moves them over the white bowl of colorful building blocks, drops the sticks into the bowl, then moves back to a position above the now-empty light wooden box.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 773, "tasks": ["place utensil"], "length": 454, "global_instruction": "Pick the brown scoop from the white dish and place it into the beige wooden box.", "scene_description": "A white table holds a beige wooden box, a small white dish with a brown scoop inside, a dark mug, an orange funnel, and assorted office items. A robotic arm is positioned at the top right of the frame.", "global_instruction_dense": "The right robotic gripper moves toward the small white dish holding the brown scoop, grasps the scoop, lifts it, moves it over the beige wooden box, lowers it, and releases the scoop into the box before lifting away.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 774, "tasks": ["place utensil"], "length": 417, "global_instruction": "Place the wooden utensil into the black dish drying rack next to the kitchen sink.", "scene_description": "A dark kitchen countertop holds a silver electric kettle, a yellow-green cleaning sponge, an open white cardboard box, a black dish drying rack, and a stainless steel sink with a white soap bottle in its caddy. A right robotic arm is positioned above the counter near the kettle, with blue chairs and posted paperwork in the background below wooden upper cabinets.", "global_instruction_dense": "The right robotic arm, initially grasping a wooden utensil near the silver electric kettle on the counter, rotates and lifts the utensil to reorient it, moves rightward to position the utensil over the black dish drying rack next to the sink, lowers the utensil into the rack, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 775, "tasks": ["place utensil"], "length": 303, "global_instruction": "Pick up the white plastic straw from the red mug and place it on the wooden table.", "scene_description": "A light wooden lab table holds a red mug with a white plastic straw inside, small red lid, green colander, folded black cloth, blue water bottle, black tape dispenser, green wet wipe pack, small white square, small black square, with a white robotic arm positioned above the left side of the table.", "global_instruction_dense": "The right robotic gripper moves toward the red mug on the table, grasps the white plastic straw inside the mug, lifts the straw out of the mug, moves it over an empty spot on the table, lowers it, and releases it to place it on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 776, "tasks": ["place utensil"], "length": 235, "global_instruction": "Place the white utensil on the wooden table into the green bowl.", "scene_description": "A light wooden table holds a green bowl with food inside, a small red plastic lid, a blue water bottle, a green packaged item, black fabric, white gloves, and a metal fork; a stationary white robotic arm is at the left edge of the frame.", "global_instruction_dense": "The right robotic gripper moves down toward the white utensil on the wooden table, grasps it, lifts it, moves it over the green bowl, lowers it into the bowl, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 777, "tasks": ["place utensil"], "length": 670, "global_instruction": "Place a plastic lid on the orange food container and place utensils into the woven basket.", "scene_description": "A dark kitchen counter holds a light brown woven basket, two translucent plastic lids, a small translucent container with orange food, a red and yellow snack packet, a purple pump soap bottle, and a clear drink bottle. A stainless steel sink, wooden upper cabinets, and a gas stove are in the background, with a white robotic arm positioned above the counter near the purple bottle.", "global_instruction_dense": "The left robotic arm first presses the pump of the purple soap bottle, then picks up a clear plastic lid and places it on the small container holding orange food, then picks up two dark utensils sequentially and places them into the light brown woven basket, adjusts the utensils inside the basket, and finally lifts away from the basket.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 778, "tasks": ["place utensil"], "length": 161, "global_instruction": "Pick up the black tongs from the basket and place them on the kitchen counter near the sink.", "scene_description": "A black kitchen counter sits under wooden upper cabinets, with a stainless steel sink and stove in the background. On the counter, a beige woven basket holding black tongs is next to a small clear labeled bottle, a red packaged item, and a purple soap pump, with a white robotic arm above the counter.", "global_instruction_dense": "The left robotic arm moves downward to the beige basket, grasps the black tongs inside the basket, lifts the tongs, moves rightward toward the sink, lowers the tongs, and releases them onto the counter near the sink.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 779, "tasks": ["place utensil"], "length": 357, "global_instruction": "Pick a yellow sticky note from the brown woven basket and place it on the table next to the pink sticky note.", "scene_description": "A light wooden table is positioned in front of a kitchen area, holding a brown woven basket, a red mug with pens, multiple colored pencils, a roll of green tape, a plastic food container, and stacked papers. A white robotic arm sits to the left of the table, with a person at the kitchen sink in the background.", "global_instruction_dense": "The right robotic arm moves toward the brown woven basket on the table, grasps a yellow sticky note from inside the basket, lifts the note, moves it to the table area next to the existing pink sticky note, lowers the note, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 780, "tasks": ["place utensil"], "length": 1319, "global_instruction": "Transfer all writing utensils from the small red mug into the larger red plastic bowl.", "scene_description": "A light wooden table holds a small red mug filled with assorted pens and pencils, an empty larger red plastic bowl to the right of the mug, and a white robotic arm with black accents positioned above the table. The background is a kitchen area with wooden cabinets and a countertop.", "global_instruction_dense": "The left robotic arm repeatedly reaches into the small red mug, grasps individual pens and pencils, lifts each, moves it over the larger empty red bowl, releases it into the bowl, and repeats until all writing utensils are moved from the mug to the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 781, "tasks": ["place utensil"], "length": 1769, "global_instruction": "Place the empty white mug on the table, then transfer all writing utensils from the red bowl into the white mug.", "scene_description": "A light wooden table in a lab kitchen area holds a black pair of scissors, an empty solid red ceramic mug, and a large red plastic bowl filled with assorted writing utensils. A white robotic arm with gray accents to the left of the table holds an empty white ceramic mug.", "global_instruction_dense": "The right robotic gripper first places the empty white ceramic mug onto the wooden table next to the solid red mug, then repeatedly grasps individual pens, pencils, and markers from the large red plastic bowl, moves each utensil over to the white mug, releases it into the mug until all writing utensils are transferred from the bowl to the mug, then retracts above the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 782, "tasks": ["place utensil"], "length": 458, "global_instruction": "Pick up the metal tongs from the black utensil rack and place them on the kitchen counter left of the electric kettle.", "scene_description": "A dark gray kitchen counter holds a central stainless steel double sink, a silver electric kettle to the sink's left, a clear dish soap bottle with a green cap adjacent to the kettle, a black utensil rack behind the dish soap, a white foaming hand soap dispenser to the sink's right, light brown wooden upper and lower cabinets, a gas stove on the far right of the counter, and a white robotic arm positioned at the left edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the black utensil rack on the left side of the kitchen sink, grasps the metal tongs inside the rack, lifts the tongs, moves them horizontally toward the empty counter space to the left of the silver electric kettle, lowers the tongs to the counter surface, releases the tongs, and moves its gripper upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 783, "tasks": ["place utensil"], "length": 748, "global_instruction": "Pick utensils from the black dish rack and place them on the left kitchen counter.", "scene_description": "A dark grey kitchen counter holds a central stainless steel sink, a black dish rack with utensils, a green-capped clear spray bottle, and a silver electric kettle to the sink's left, a white soap dispenser and black gas stove to the sink's right, wooden upper cabinets above the counter, a whiteboard with posted papers on the far left wall, and a robotic arm positioned above the left counter area.", "global_instruction_dense": "The right robotic arm moves toward the black dish rack on the kitchen counter, grasps a white spoon, lifts and places it on the counter next to the silver electric kettle, then grasps a metal utensil, lifts and places it on the counter, adjusts a white spoon within the dish rack, then moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 784, "tasks": ["place utensil"], "length": 211, "global_instruction": "Place a metal utensil from the utensil rack onto the counter next to the white mug.", "scene_description": "A dark gray kitchen counter holds a white mug with black detailing, silver electric kettle, purple branded bottle, and black utensil rack next to a stainless steel sink with another white mug inside, with a robotic arm above the counter and blue chairs and a poster whiteboard in the background.", "global_instruction_dense": "The left robotic arm moves toward the black utensil rack, grasps a thin metal utensil, lifts it, moves it left to the area next to the white mug on the counter, lowers it, places it on the counter, and releases its grip.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 785, "tasks": ["place utensil"], "length": 265, "global_instruction": "Place a plastic straw into the white mug on the kitchen counter", "scene_description": "A dark gray kitchen counter holds a white patterned mug, silver electric kettle, black utensil rack, purple W-logo hand soap, and a stainless steel sink with a second white mug inside. A white robotic arm is positioned above the left side of the counter, with blue chairs and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the black utensil rack on the counter, grasps a light blue plastic straw from the rack, moves the straw left toward the white patterned mug, and lowers it to rest against the mug.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 786, "tasks": ["place utensil"], "length": 220, "global_instruction": "Grasp the metal utensil and place it next to the blue fork on the kitchen counter.", "scene_description": "A dark grey kitchen counter holds a white mug with black marking, silver electric kettle, black storage basket, purple pump bottle with white 'W' logo, and a stainless steel sink containing a white mug with a black patterned rim. A white robotic arm is positioned above the counter, with blue chairs, a poster-covered whiteboard, and wooden upper cabinets in the background.", "global_instruction_dense": "The right robotic arm first moves upward and leftward away from the counter, then moves downward and rightward to grasp a metal utensil, lifts the utensil, moves it to the area next to the blue plastic fork on the counter, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 787, "tasks": ["place utensil"], "length": 1656, "global_instruction": "Move all utensils from the white countertop mug into the black utensil basket, then place the empty mug into the basket.", "scene_description": "A dark kitchen countertop holds a white patterned mug (with utensils inside), purple spray bottle, silver electric kettle, black mesh utensil basket, and rolled white paper towels. A stainless steel sink with another white mug sits to the right, blue chairs and informational posters are in the background below wooden upper cabinets, and a white robotic arm is positioned above the counter.", "global_instruction_dense": "The left robotic arm first moves each utensil from the white patterned countertop mug into the black mesh utensil basket, then lifts the empty mug and places it into the same basket before retracting upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 788, "tasks": ["place utensil"], "length": 253, "global_instruction": "Retrieve a metal utensil from the black utensil caddy and place it on the dark kitchen counter.", "scene_description": "A dark grey kitchen counter holds a silver electric kettle, a black utensil caddy, a purple bottle, and a white paper towel roll. A stainless steel sink with a white patterned mug inside sits at the right of the counter, wooden cabinets are mounted above, and a white robotic arm is positioned above the left of the counter, with blue chairs and a white notice board in the background.", "global_instruction_dense": "The right robotic arm moves toward the black utensil caddy on the kitchen counter, grasps a long metal utensil from the caddy, lifts it up, moves left over the counter surface, lowers the utensil, releases it onto the counter, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 789, "tasks": ["place utensil"], "length": 1334, "global_instruction": "Take utensils from the black dish rack and place them on the empty space of the dark gray kitchen counter.", "scene_description": "A dark gray kitchen counter holds a silver electric kettle, a purple soap dispenser, a white paper towel roll, a black dish rack with multiple utensils, and a stainless steel sink with a white patterned cup inside. A white robotic arm is positioned to the left of the counter.", "global_instruction_dense": "The right robotic arm moves toward the black dish rack on the kitchen counter, sequentially grasps multiple utensils from the rack, moves each utensil over the empty counter area, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 790, "tasks": ["place utensil"], "length": 290, "global_instruction": "Pick up the small utensil on the kitchen counter, rotate it, and place it back on the counter.", "scene_description": "A dark kitchen counter holds a silver electric kettle, purple labeled pump bottle, white roll, black storage caddy, and a small dark utensil. A stainless steel sink with a white checkered mug sits at the right of the counter, a white robotic arm is positioned above the counter, and blue chairs plus a poster-covered whiteboard are in the background.", "global_instruction_dense": "The right robotic arm moves down toward the small utensil on the kitchen counter, grasps it, lifts and rotates it to a new orientation, then lowers and releases it back onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 791, "tasks": ["place utensil"], "length": 149, "global_instruction": "Pick up the red utensil next to the red plate and place it beside the orange cup", "scene_description": "A wooden lab kitchen table holds a red plate, yellow mug, orange/blue/green small cups, a bread bag, a white printed mug, a dark water jug, and a red small utensil near the plate. A white robotic arm is positioned to the left of the table, with wooden cabinets, a fridge, and a microwave in the background.", "global_instruction_dense": "The left robotic arm lowers its gripper toward the red utensil near the red plate, closes the gripper to grasp it, lifts the utensil, moves it rightward to the area next to the orange cup, then releases the utensil to place it on the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 792, "tasks": ["place utensil"], "length": 595, "global_instruction": "Place eating utensils into the yellow rectangular container, then move a red tomato next to the container.", "scene_description": "A dark gray kitchen counter holds an empty yellow rectangular container, a wooden plate with a brown pear to the container's right, a silver toaster behind the container, and a wooden rack with packaged goods to the plate's right. A white robotic arm with a blue gripper is positioned above the counter near the toaster.", "global_instruction_dense": "The right robotic gripper sequentially grasps multiple eating utensils, lifts each over the empty yellow rectangular container, releases them into the container, then grasps a red tomato, moves it leftward, and releases it on the counter adjacent to the yellow container.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 793, "tasks": ["place utensil"], "length": 234, "global_instruction": "Place a utensil from the open dishwasher onto the kitchen counter", "scene_description": "A dark grey kitchen counter holds a red plate, purple bowl, small white cup, and tall blue cup. An open dishwasher loaded with dishes sits below the counter, a stainless steel sink with dishes is to the counter's right, and a robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the open dishwasher under the kitchen counter, grasps a light blue utensil from the dishwasher, lifts the utensil upward, moves it over the counter surface, lowers it to place it next to the purple bowl on the counter, then retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 794, "tasks": ["place utensil"], "length": 705, "global_instruction": "Place a utensil from the black countertop utensil caddy into the kitchen sink.", "scene_description": "A dark grey kitchen counter with a stainless steel sink containing dishes, a black utensil caddy with cutlery, a red bowl, and a silver kettle to the left of the sink, cleaning supplies next to the sink, a light blue water bottle near a gas stove on the right, light brown wooden upper and lower cabinets, a dishwasher under the counter left of the sink, and a white robotic arm positioned above the utensil caddy.", "global_instruction_dense": "The right robotic arm moves downward toward the black utensil caddy on the kitchen counter, grasps a metal utensil from inside the caddy, lifts the utensil, moves it toward the stainless steel sink, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 795, "tasks": ["place utensil"], "length": 358, "global_instruction": "Grasp the black wire utensil holder near the green bowl, move it toward the woven toy food basket, then place it back near the green bowl.", "scene_description": "A dark grey kitchen counter holds a stainless steel sink, green plastic bowl, red plastic bowl, silver toaster, assorted kitchen containers, cups near the sink, and a woven basket with colorful toy food pieces. A white robotic arm is positioned above the counter, with light wooden cabinets and a stainless steel microwave in the background.", "global_instruction_dense": "The right robotic arm lowers toward the black wire utensil holder positioned next to the green bowl on the kitchen counter, grasps the holder, lifts it, moves it rightward toward the woven basket holding toy food, adjusts its grip on the holder, moves it leftward back toward the green bowl, and places it on the counter near the green bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 796, "tasks": ["place utensil"], "length": 352, "global_instruction": "Lift the metal utensil out of the green bowl and place it on the countertop.", "scene_description": "A dark grey countertop holds a green bowl with a metal utensil inside, a green plastic cup, a yellow cloth, a stacked red and purple bowl, cut fruit, a grey plastic container, an orange cloth, a roll of white paper towels, and a black jacket, with a white left robotic arm positioned above the left edge of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the green bowl on the counter, grasps the metal utensil inside the bowl, lifts the utensil out of the bowl, moves it horizontally to the side of the bowl, and lowers it toward the countertop surface.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 797, "tasks": ["place utensil"], "length": 2211, "global_instruction": "Place the small translucent pink bowl and wooden chopsticks onto the red ceramic plate.", "scene_description": "A wooden table holds a green avocado-patterned oven mitt, a white label printer, a silver soda can, a red ceramic plate, a small translucent pink bowl, a white paper plate with a plastic fork, and an open pizza box with a long pizza on the far right. A right robotic arm with a blue gripper is positioned above the table between the red and white plates.", "global_instruction_dense": "The right robotic arm moves to grasp the small translucent pink bowl from the table, lifts it, places it onto the red ceramic plate, then moves to grasp the wooden chopsticks from the table, lifts them, places them onto the red plate next to the pink bowl, releases the chopsticks, and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 798, "tasks": ["place utensil"], "length": 337, "global_instruction": "Pick up the wooden chopstick on the pink bowl and place it onto the red plate with the white napkin.", "scene_description": "A light wooden tabletop has a green patterned oven mitt and white rectangular device on its left, a silver opened beverage can, pink small bowl with a wooden chopstick resting on it, red plate with a white napkin, small white round plate at its center, and an open brown pizza box with a long pizza on its right, with a robotic arm above the left table area.", "global_instruction_dense": "The right robotic arm moves from above the left table toward the wooden chopstick on the pink bowl, grasps the chopstick, lifts it, moves it over the red plate with the white napkin, and releases the chopstick onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 799, "tasks": ["place utensil"], "length": 3187, "global_instruction": "Place all brown forks and knives on the wooden table into the pale yellow bowl.", "scene_description": "A light wooden table holds multiple brown forks and knives, with a pale yellow bowl positioned to the right of the utensils, in a lab workspace with desks, computers, and equipment in the background.", "global_instruction_dense": "The right robotic gripper repeatedly moves to individual brown forks and knives on the light wooden table, grasps each utensil, lifts it, moves it over the pale yellow bowl, and releases it into the bowl until all utensils are placed inside the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 800, "tasks": ["place utensil"], "length": 1998, "global_instruction": "Remove all metal utensils from the plastic bowl and place them on the wooden table, then place a white paper napkin inside the bowl.", "scene_description": "A light yellow translucent plastic bowl filled with dark metal eating utensils sits on a light wooden worktable in a robotics lab, with a small blue box, white papers, and assorted lab equipment in the background workspace.", "global_instruction_dense": "The right robotic gripper repeatedly grasps bunches of dark metal utensils from the light yellow bowl on the table, lifts and places them on the table surface, tilts the bowl to gather remaining utensils, adjusts the placed utensils, then grasps a white paper napkin and places it inside the bowl.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 801, "tasks": ["place utensil"], "length": 2784, "global_instruction": "Place dark utensils from the beige bowl into the colored plastic cups on the table.", "scene_description": "A light wooden table holds a beige bowl filled with dark utensils at its front, and six plastic cups (green, light blue, yellow, orange, red, dark blue) lined up in a row behind the bowl. Dual white robotic arms are positioned above the left side of the table.", "global_instruction_dense": "The right robotic arm moves toward the beige bowl on the wooden table, grasps multiple dark utensils from the bowl and places them on the table surface, picks up individual utensils to place into the red and dark blue cups, returns the remaining utensils to the bowl, and finally moves back to its resting position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 802, "tasks": ["place utensil"], "length": 2054, "global_instruction": "Place metal utensils from the beige bowl into the colored cups on the table.", "scene_description": "A wooden table holds a beige bowl filled with metal utensils, plus multiple colored cups (blue, green, orange, red, yellow, white) arranged on the table, with a right robotic arm positioned to the left of the table in an office lab workspace.", "global_instruction_dense": "The right robotic arm retrieves metal utensils one by one from the beige bowl on the wooden table, moves each utensil to a corresponding colored cup, places the utensil inside the cup, corrects a knocked-over blue cup during the process, and finishes distributing all utensils into the cups before returning to a resting position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 803, "tasks": ["place utensil"], "length": 1930, "global_instruction": "Place utensils from the beige bowl into the colored cups arranged to the bowl's right.", "scene_description": "A light wooden table holds a beige bowl filled with dark metal utensils at its center-left. To the bowl's right, colored cups are arranged: stacked light blue cups, a yellow cup, an orange cup, a light blue cup, a dark blue cup, a green cup, a white cup, and a small metallic cup. A white robotic arm with a blue gripper is positioned above the table's left side.", "global_instruction_dense": "The right robotic arm moves its blue gripper to the beige utensil bowl, grasps individual utensils, lifts each, moves it over a corresponding colored cup, releases the utensil into the cup, repeats this process for multiple utensils, then resets to its initial raised position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 804, "tasks": ["place utensil"], "length": 1868, "global_instruction": "Place dark brown sticks from the shallow beige bowl into the colored plastic cups on the wooden table.", "scene_description": "A wooden table holds a shallow beige bowl filled with dark brown sticks, multiple colored plastic cups (orange, light blue, yellow, dark blue, green, white), and a small gray metal can. The bowl is in the front center of the table, with cups arranged in a row behind the bowl.", "global_instruction_dense": "The right robotic arm repeatedly moves to the shallow beige bowl on the wooden table, grasps individual dark brown sticks from the bowl, lifts each stick, moves it to a corresponding colored plastic cup positioned behind the bowl, and releases the stick into the cup, placing multiple sticks into different colored cups over the course of the episode.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 805, "tasks": ["place utensil"], "length": 2968, "global_instruction": "Pick utensils from the tabletop bowl, place them into the colored plastic cups, and restore the toppled green cup to an upright position.", "scene_description": "A light-colored bowl holding dark metal utensils sits on the left of a wooden table, with four upright colored plastic cups (yellow, blue, orange, green) arranged in a row to the bowl's right, and a white right robotic arm positioned above the table near the cups.", "global_instruction_dense": "The right robotic arm moves to the utensil bowl, grasps a utensil, moves toward the green cup (toppling the cup in the process), rights the fallen green cup, then repeatedly returns to the bowl to grasp utensils and place each one into a different colored cup before holding position above the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 806, "tasks": ["place utensil"], "length": 1654, "global_instruction": "Transfer dark utensils from the beige bowl into the four colored cups on the table.", "scene_description": "A light wooden table holds a beige bowl filled with dark metal utensils on its left side, and four colored plastic cups (light blue, dark blue, yellow, green) arranged to the right of the bowl, in a lab workspace with desks and other robotic arms in the background.", "global_instruction_dense": "The right robotic arm repeatedly grasps dark utensils from the beige bowl on the left of the table, lifts each utensil, moves it to one of the four colored cups to the right of the bowl, releases the utensil into the target cup, and returns to the bowl to retrieve the next utensil until multiple utensils are placed into the cups.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 807, "tasks": ["place utensil"], "length": 2534, "global_instruction": "Transfer eating utensils from the table bowl into the colored plastic cups and rearrange the cups on the table.", "scene_description": "A light brown wooden table holds a beige bowl filled with dark eating utensils at the front left, and four colored plastic cups (green, blue, yellow, orange, arranged left to right) to the right of the bowl. A white dual-arm robotic manipulator is positioned above the table in an office lab background with desks and computing equipment.", "global_instruction_dense": "The right robotic arm moves toward the beige bowl on the table, repeatedly grasps eating utensils from the bowl and places them into the orange, yellow, green, and blue colored cups respectively, then lifts and rearranges the blue and green cups to align them in a neat row next to the other cups, before moving back to its rest position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 808, "tasks": ["place utensil"], "length": 2224, "global_instruction": "Place one utensil from the bowl into each of the four colored cups on the table.", "scene_description": "A light wooden table holds a light yellow bowl filled with dark utensils, with four small colored cups (green, pink, blue, orange) arranged in a line in front of the bowl, and two robotic arms are positioned to the left of the table.", "global_instruction_dense": "The right robotic arm reaches into the light yellow bowl of utensils on the wooden table, grasps a utensil, first drops it on the table adjacent to the orange cup before re-grasping and placing it into the orange cup, then sequentially retrieves more utensils from the bowl and places one each into the green, blue, and pink cups, until each of the four cups contains one utensil.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 809, "tasks": ["place utensil"], "length": 5379, "global_instruction": "Arrange light blue plastic cups in a row on the table, then place cutlery from the brown bowl into the cups.", "scene_description": "A light wooden table holds a light brown bowl of dark metal cutlery on its left side, two light blue plastic cups in its center-right area, extra light blue plastic cups near its left edge, and a white robotic arm is positioned to the left of the table in a lab office environment.", "global_instruction_dense": "The right robotic arm first arranges four light blue plastic cups in a straight row on the light wooden table, then repeatedly grasps individual pieces of dark cutlery from the light brown bowl, moves each piece over a blue cup, and drops the cutlery into the cup to distribute utensils across the cups.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 810, "tasks": ["place utensil"], "length": 343, "global_instruction": "Remove utensils from the black holder and place them on the countertop", "scene_description": "A dark gray countertop holds a stainless steel kettle, a black utensil holder with cutlery, and a tray of white dishware and plastic containers; wooden cabinets are mounted above the counter, and white robotic arms are positioned above the counter.", "global_instruction_dense": "The right robotic gripper moves toward the black utensil holder on the counter, grasps multiple utensils from inside the holder, lifts the utensils, moves them over the open counter area, releases the utensils to place them on the counter surface, then withdraws to hover above the counter.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 811, "tasks": ["place utensil"], "length": 223, "global_instruction": "Pick up the light blue plastic utensil from the table and place it into the black tray.", "scene_description": "A dark tabletop holds a silver stainless steel kettle, a light blue plastic utensil, and a black tray with white containers and a purple bottle, positioned below wooden wall cabinets.", "global_instruction_dense": "The right robotic arm moves down toward the light blue utensil on the table, grasps it with its gripper, lifts it, moves right over the black tray, lowers it, and releases it into the tray.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 812, "tasks": ["place utensil"], "length": 224, "global_instruction": "Place the two metal utensils from the center of the table onto the left section of the table.", "scene_description": "A light wooden table holds two adjacent silver metal utensils, a white bowl, a blue plastic cup, a yellow plastic bowl, a black-and-white calibration mat, four colored markers, and a silver laptop. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm descends toward the two adjacent metal utensils at the center of the table, grasps one utensil, lifts and moves it to the left section of the table and sets it down, then moves back to grasp the second utensil, lifts and moves it to the left section of the table near the first utensil and sets it down, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 813, "tasks": ["place utensil"], "length": 213, "global_instruction": "Place a metal chopstick into the blue plastic cup on the table", "scene_description": "A light wooden table holds a black fabric case, a pair of metal chopsticks, a white bowl, a blue plastic cup, a yellow plastic bowl, a black-and-white ArUco marker mat, a silver laptop, and four markers on its right edge. A white robotic arm is positioned at the left side of the table.", "global_instruction_dense": "The left robotic arm moves toward the metal chopsticks on the table, grasps one chopstick with its gripper, lifts it, moves it over the blue cup, inserts the chopstick into the cup, then retracts its arm upward.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 814, "tasks": ["place utensil"], "length": 337, "global_instruction": "Place the metal utensil on the table into the white bowl.", "scene_description": "A light brown wooden table holds a black fabric pouch, a blue cup with a black straw, a white bowl, a yellow plastic container, a black-and-white calibration grid mat, a silver laptop, and multiple markers (red, black, blue) on the right edge, with a white robotic arm positioned at the left side of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the metal utensil between the yellow container and white bowl, grasps the utensil, lifts it, moves it over the white bowl, lowers it into the bowl to release it, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
+{"episode_index": 815, "tasks": ["place utensil"], "length": 414, "global_instruction": "Take a writing utensil from the red bowl and place it on the wooden table.", "scene_description": "A light wooden table holds a red bowl filled with writing utensils, black scissors, three loose writing utensils, a white cup, a green and yellow packaged item, and a red mug on a white sheet of paper; a white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic gripper moves toward the red bowl on the table, grasps a writing utensil from inside the bowl, lifts it, moves it over the empty table surface, lowers and releases the utensil onto the table, then lifts upward away from the placed item.", "skill": "Pick & Place", "verb": "place", "object": "utensil", "object_category": "Tableware & Kitchen Utensils"}
diff --git a/datasets/droid/data/place__utensil/meta/episodes_stats.jsonl b/datasets/droid/data/place__utensil/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..87cfa236d92ce663426e552b315a1c46c9c8537b
--- /dev/null
+++ b/datasets/droid/data/place__utensil/meta/episodes_stats.jsonl
@@ -0,0 +1,816 @@
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diff --git a/datasets/droid/data/place__utensil/meta/info.json b/datasets/droid/data/place__utensil/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..26f95531798d3e1412e1292b1ece69210ab4ca20
--- /dev/null
+++ b/datasets/droid/data/place__utensil/meta/info.json
@@ -0,0 +1,255 @@
+{
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+  "total_videos": 2448,
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+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:816"
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+  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+    },
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+        "width",
+        "rgb"
+      ],
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+        "video.codec": "av1",
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+        "video.channels": 3,
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false
+      }
+    },
+    "observation.images.ext2": {
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+        "width",
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+      "info": {
+        "video.fps": 30.0,
+        "video.codec": "av1",
+        "has_audio": false,
+        "video.height": 480,
+        "video.width": 640,
+        "video.channels": 3,
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false
+      }
+    },
+    "observation.images.wrist": {
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+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "rgb"
+      ],
+      "info": {
+        "video.fps": 30.0,
+        "video.codec": "av1",
+        "has_audio": false,
+        "video.height": 480,
+        "video.width": 640,
+        "video.channels": 3,
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false
+      }
+    }
+  },
+  "skill_category": "抓取/放置/传递 (Pick/Place/Carry)",
+  "scene_category": "抽象/桌面实验 (General Tabletop/Lab Bench)",
+  "camera_mapping": {
+    "observation.images.ext1": "external_1",
+    "observation.images.ext2": "external_2",
+    "observation.images.wrist": "right_wrist"
+  }
+}
\ No newline at end of file
diff --git a/datasets/droid/data/place__utensil/meta/stats.json b/datasets/droid/data/place__utensil/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cdf79554b811d66d59e00cb4d6fb1fd3dd018cd
--- /dev/null
+++ b/datasets/droid/data/place__utensil/meta/stats.json
@@ -0,0 +1,761 @@
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