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+{"episode_index": 0, "tasks": ["place clothing"], "length": 298, "global_instruction": "Place the light pink printed t-shirt on the desk into the open brown cardboard box.", "scene_description": "A wooden office desk holds an open brown cardboard box on its left, three pieces of fabric (light pink printed, yellow, pink) on its right, and a Franka Emika robotic arm positioned above the fabrics, with office desks, monitors and chairs in the background.", "global_instruction_dense": "The right robotic Franka Emika arm moves down to grasp the light pink printed t-shirt on the wooden desk, lifts the t-shirt, moves it over the open brown cardboard box, then releases the t-shirt to drop it into the box.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 1, "tasks": ["place clothing"], "length": 300, "global_instruction": "Move the garments draped over the gray chair back onto the wooden table.", "scene_description": "A cluttered wooden table, gray chair with pink and light peach garments draped over its back, and a robotic arm positioned to the right of the chair, with office monitors and chairs in the background.", "global_instruction_dense": "The right robotic arm first moves to grasp the pink garment on the chair, lifts and places it on the wooden table, then moves to grasp the light peach garment on the chair, lifts and places it on top of the pink garment on the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 2, "tasks": ["place clothing"], "length": 310, "global_instruction": "Place the stacked garments on the foreground gray chair onto the brown cardboard box on the wooden desk.", "scene_description": "A wooden office desk holds a brown cardboard box, scattered documents, bottles, and miscellaneous items; a gray chair in the foreground has stacked light pink, yellow, and pink garments, a white robotic arm is positioned to the right of the desk, and a person works at a back desk with multiple monitors in the background.", "global_instruction_dense": "The right robotic gripper first moves to the stacked garments on the foreground gray chair, grasps the light pink garment, lifts it, moves it over the brown cardboard box on the desk, releases it onto the box, then returns to the chair, grasps the remaining yellow and pink garments, lifts them, moves them over the box, and releases them on top of the light pink garment.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 3, "tasks": ["place clothing"], "length": 340, "global_instruction": "Place the shirts inside the white plastic container onto the wooden table.", "scene_description": "A wooden table holds a white plastic container with a light peach printed shirt and a pink shirt inside, assorted small items (tape, cables, plastic bottle) and other fabric pieces are to the left of the container, and a robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the white plastic container on the table, grasps the light peach printed shirt, lifts it out of the container, places it on the wooden table left of the container, then moves to the container, grasps the pink shirt, lifts it out, and places it on top of the light peach shirt on the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 4, "tasks": ["place clothing"], "length": 299, "global_instruction": "Remove the garments from the white plastic basket and place them on the wooden table.", "scene_description": "A wooden tabletop holds a white plastic basket containing light peach and pink garments, with small miscellaneous items to the basket's left, and a robotic arm on the table's right.", "global_instruction_dense": "The right robotic arm moves toward the white plastic basket, grasps the light peach garment, lifts and places it on the table left of the basket, returns to grasp the pink garment, lifts and places it on top of the light peach garment, then moves back above the empty basket.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 5, "tasks": ["place clothing"], "length": 423, "global_instruction": "Place the light pink shirt on the wooden table closer to the table's front edge.", "scene_description": "A light wooden table holds a pile of items including a deep pink cloth, a light pink shirt on a white hanger, a green cloth, a red round object, and a brown cardboard box at the table's far end. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper moves toward the white hanger holding the light pink shirt, grasps the hanger, lifts the shirt and hanger causing the deep pink cloth to fall onto the table, drops the hanger and shirt on the table, then grasps the light pink shirt directly, lifts it, moves it closer to the front edge of the table, releases it, and moves back to its resting position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 6, "tasks": ["place clothing"], "length": 1383, "global_instruction": "Relocate garments and small items from the front garment pile to different positions on the wooden table.", "scene_description": "A wooden table holds a pile of assorted garments (light pink, light green, white, pink fabric) at its front, a brown cardboard box at its rear, and a white robotic arm to the table's right, with a tool workbench in the left background.", "global_instruction_dense": "The right robotic arm sequentially grasps a light pink garment, light green garment, strawberry-shaped decoration, white cable, and pink garment from the front section of the wooden table, placing each item at separate target positions across the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 7, "tasks": ["place clothing"], "length": 77, "global_instruction": "Place the pink T-shirt from the chair armrest onto the wooden table", "scene_description": "A light brown wooden table with a small yellow sticky note sits next to a chair with a gray armrest. A light pink T-shirt with purple 'NO' and orange text rests on the chair armrest, and striped folding chairs plus dark fabric are in the background.", "global_instruction_dense": "The right robotic gripper moves toward the pink T-shirt on the chair armrest, grasps the T-shirt, lifts it, moves it over the wooden table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 8, "tasks": ["place clothing"], "length": 451, "global_instruction": "Place the light pink printed T-shirt on the table into the white storage box.", "scene_description": "A white open storage box is on the left of a white round table by the window; a light pink printed T-shirt, a deep pink cloth, a grey small cloth, a brown plush toy, a white small plate, and a dark grey rectangular object are placed on the table, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm first moves the brown plush toy aside, then grasps the light pink T-shirt, partially folds it, lifts the folded T-shirt, moves it left over the white storage box, and releases the T-shirt into the box.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 9, "tasks": ["place clothing"], "length": 151, "global_instruction": "Pick up the dark jacket from the office chair and place it on the desk below.", "scene_description": "An office space with a black mesh office chair holding a dark jacket and light checkered shirt on its back, a white conference table in the background, a dark door to the left, and a whiteboard next to a robotic arm on the right.", "global_instruction_dense": "The right robotic arm moves toward the dark jacket on the office chair, grasps the jacket, lifts it (causing the checkered shirt to fall off the chair), moves the jacket down over the desk, releases it onto the desk, then moves back toward the whiteboard.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 10, "tasks": ["place clothing"], "length": 207, "global_instruction": "Hang the beige and dark blue garments from the office chair seat onto the chair back.", "scene_description": "An office room with a gray office chair in the foreground holding a beige garment, dark blue garment, and purple patterned garment on its seat, a whiteboard to the right of the chair, a conference table with high stools by large windows in the background, and a right robotic arm positioned near the whiteboard.", "global_instruction_dense": "The right robotic arm moves toward the garments on the office chair seat, grasps the beige garment, lifts it, hangs it on the chair back, then grasps the dark blue garment, lifts it, hangs it on the chair back, and moves back toward the whiteboard.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 11, "tasks": ["place clothing"], "length": 977, "global_instruction": "Put all the garments from the white box into the open plastic bag on the table.", "scene_description": "A white round table is positioned in front of a large window with a city view. On the table, a white rectangular box holds stacked dark blue, purple checkered, and light pink garments. An open white plastic bag with red inner patterns sits to the right of the box, and a right robotic arm is positioned near the window on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves toward the white box on the table, grasps the dark blue garment on top, places it into the open plastic bag to the right of the box, then grasps the purple checkered garment from the box, places it into the bag, then grasps the light pink garment from the box, places it into the bag, then adjusts the bag's position before moving away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 12, "tasks": ["place clothing"], "length": 250, "global_instruction": "Take the light pink t-shirt out of the white storage bin and place it on the yellow table.", "scene_description": "A yellow table has a white plastic storage bin with folded clothing on its right side, a brown cardboard box on its rear section, and robotic/camera equipment to its left.", "global_instruction_dense": "The right robotic gripper moves above the white storage bin on the yellow table, lowers into the bin to grasp the light pink t-shirt, lifts the t-shirt, moves it over the empty table surface, lowers and releases the t-shirt onto the table, then moves upward away from the surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 13, "tasks": ["place clothing"], "length": 393, "global_instruction": "Place the light-colored T-shirt on the yellow table into the right white storage basket", "scene_description": "A yellow table holds a light off-white T-shirt with colorful text at its center, a white striped storage basket with pink and dark fabric items inside on its right side, and a brown cardboard box at its far end. Robotic equipment is positioned to the left of the table against a dark blue wall.", "global_instruction_dense": "The left robotic arm moves toward the light-colored T-shirt on the yellow table, grasps its left edge to fold the edge onto the main shirt body, then grasps the folded T-shirt, lifts it, moves it right over the white storage basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 14, "tasks": ["place clothing"], "length": 411, "global_instruction": "Place the dark blue t-shirt on the yellow table into the white plastic basket.", "scene_description": "A dark blue t-shirt lies on a yellow table, with a white rectangular plastic basket behind the t-shirt, a brown cardboard box behind the basket, and a robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the dark blue t-shirt on the yellow table, grasps its edge, adjusts its hold on the fabric, lifts the entire t-shirt, moves it over the white plastic basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 15, "tasks": ["place clothing"], "length": 306, "global_instruction": "Place the pink printed t-shirt on the table into the white plastic storage bin.", "scene_description": "A light yellow wooden table holds a white plastic storage bin on its left side, a pink printed t-shirt on its right side, and a brown cardboard box behind the bin.", "global_instruction_dense": "The right robotic gripper moves toward the pink t-shirt on the right of the table, repeatedly grasps and bunches sections of the t-shirt, lifts the entire t-shirt, moves it over the white storage bin, and releases it into the bin.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 16, "tasks": ["place clothing"], "length": 439, "global_instruction": "Place the garments on the yellow table onto the edge of the adjacent white storage bin", "scene_description": "A yellow table holds a white rectangular plastic storage bin on its left half, multiple rumpled garments (light pink, dark navy, bright pink, purple checkered, off-white) to the right of the bin, a brown cardboard box at the table back, and robotic equipment on the left table edge.", "global_instruction_dense": "The right robotic arm sequentially grasps the light pink, dark navy, bright pink, and purple checkered garments from the yellow table, lifts each, and places each on the edge of the white plastic storage bin.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 17, "tasks": ["place clothing"], "length": 276, "global_instruction": "Take garments from the white storage basket and place them on the empty right section of the yellow table", "scene_description": "A yellow table holds a white rectangular storage basket, with a dark blue garment draped over the basket, light purple and beige garments on the table to the basket's right, and a brown cardboard box behind the basket. A camera on an adjustable stand is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm grasps the dark blue garment draped over the white basket, lifts it, moves it to the empty right section of the yellow table and releases it, then moves back to the basket, grasps the light pink garment inside the basket, lifts it, moves it to the right section of the table and releases it next to the dark blue garment.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 18, "tasks": ["place clothing"], "length": 498, "global_instruction": "Pick garments from the white storage box and place them on the yellow table", "scene_description": "A yellow table has a white storage box stacked with light pink, dark blue, gray, and pink garments on its left side, a plate with a peach and blue item, and a notepad on its right side, with a robotic arm above the table.", "global_instruction_dense": "The right robotic gripper sequentially picks up a light pink garment, dark blue garment, gray garment, and pink garment from the pile on the white storage box, moves each to the center of the yellow table, and releases each garment onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 19, "tasks": ["place clothing"], "length": 129, "global_instruction": "Pick up the pink garment from the table and place it on the white microwave", "scene_description": "A yellow table holds a white microwave on its left side and a pile of clothes including a pink garment to the right of the microwave; orange chairs with white legs are placed around long tables on the grey carpeted background next to a concrete pillar.", "global_instruction_dense": "Left robotic gripper descends toward the pink garment on the yellow table, grasps the garment, lifts it, moves left above the white microwave, and releases the garment onto the microwave surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 20, "tasks": ["place clothing"], "length": 462, "global_instruction": "Place the light pink printed T-shirt on top of the white mask and pink cloth on the left side of the table.", "scene_description": "A light yellow long table sits in front of a glass window, with two orange chairs under its left side. On the table, a light pink printed T-shirt is centered, a white face mask and folded pink cloth are to its left, and a white plate with a red artificial tulip, small blue cloth, and light blue water bottle are to its right.", "global_instruction_dense": "The right robotic gripper descends toward the centered light pink T-shirt, grasps and repeatedly scrunches the T-shirt to bunch it up, lifts the bunched T-shirt, moves it leftward over the white mask and folded pink cloth, then lowers and places the T-shirt on top of these items.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 21, "tasks": ["place clothing"], "length": 189, "global_instruction": "Place the pink t-shirt from the table onto the stack of clothes adjacent to the gray storage bin.", "scene_description": "A light gray plastic storage bin, a pink t-shirt, and an open brown cardboard box are placed on a yellow table. The bin is on the left, the pink t-shirt is in the middle, the cardboard box is on the right, with clothes inside both the bin and the box, and a robotic gripper is positioned above the table.", "global_instruction_dense": "The left robotic gripper moves downward toward the pink t-shirt at the center of the yellow table, grasps the t-shirt, lifts it upward, moves it rightward over the stack of clothes next to the gray storage bin, then releases the t-shirt to drop it onto the clothes stack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 22, "tasks": ["place clothing"], "length": 128, "global_instruction": "Pick up the printed T-shirt from the white basket and place it on the light yellow table.", "scene_description": "A light yellow table holds a white plastic basket filled with clothes (one with orange and purple text at the basket top), a blue paper box with pink contents, an open brown cardboard box, and a small yellow cap beside the brown box. Orange chairs, side tables, and a concrete pillar are in the background.", "global_instruction_dense": "The left robotic arm descends toward the printed T-shirt in the white basket, grasps the T-shirt, lifts and moves it left to the empty table area, releases the T-shirt onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 23, "tasks": ["place clothing"], "length": 161, "global_instruction": "Place the black garment from the chair back into the white storage box.", "scene_description": "A gray office chair has an orange garment and a black garment draped over its back. A white storage box filled with clothes sits on a small wooden table next to the chair, with a robotic arm at the right of the frame and an open office area visible through glass partitions in the background.", "global_instruction_dense": "The right robotic arm moves toward the black garment on the chair back, grasps it with its gripper, lifts it, moves it over the adjacent white storage box, lowers it, releases it into the box, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 24, "tasks": ["place clothing"], "length": 206, "global_instruction": "Pick a dotted sock from the basket and place it on the clothing draped over the office chair.", "scene_description": "A white rectangular storage basket holding assorted fabrics sits on a small light brown table. A grey office chair with black clothing draped over its back is positioned left of the basket, and a Franka Emika robotic arm is positioned above the basket. The background is an open office space with tables, rolling chairs, and glass partitions.", "global_instruction_dense": "The right robotic gripper lowers into the white basket, grasps a dark dotted sock, lifts it out of the basket, moves it left over the black clothing on the office chair, releases the sock onto the clothing, then moves back to a position above the basket.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 25, "tasks": ["place clothing"], "length": 200, "global_instruction": "Pick the brown polka-dotted sock from the office chair and place it into the white storage bin.", "scene_description": "A gray office chair with a brown polka-dotted sock draped over its backrest sits next to a small wooden table holding a white plastic storage bin filled with clothing, in an office workspace.", "global_instruction_dense": "The right robotic arm moves toward the brown polka-dotted sock on the gray office chair backrest, grasps the sock, lifts it, moves it over the adjacent white storage bin, releases the sock into the bin, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 26, "tasks": ["place clothing"], "length": 195, "global_instruction": "Place the black garment from the gray chair back into the white plastic basket.", "scene_description": "A white plastic basket sits on a small wooden table next to a gray chair with a black garment draped over its back, a robotic arm is positioned on the right near a wooden wall, and an office area with tables and chairs is visible through glass partitions in the background.", "global_instruction_dense": "The right robotic arm moves toward the black garment on the gray chair back, grasps the garment, lifts and moves it over the adjacent white plastic basket, releases the garment into the basket, then moves back to its initial position near the wall.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 27, "tasks": ["place clothing"], "length": 213, "global_instruction": "Pick a black garment from the basket and place it on the gray chair", "scene_description": "A white plastic basket filled with assorted clothes sits on a brown cardboard box to the right, a light gray chair is in front of a glass partition, and a robotic arm is positioned above the basket, with an office space visible through the glass.", "global_instruction_dense": "The right robotic arm lowers into the white clothing basket, grasps a black garment, lifts it, moves it over the light gray chair, releases the garment onto the chair, then retracts back to its position above the basket.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 28, "tasks": ["place clothing"], "length": 238, "global_instruction": "Place the light pink T-shirt on the gray chair into the white storage box on the table.", "scene_description": "A white rectangular storage box holding blue fabric sits on a wooden table. Beside the table, a gray chair holds a light pink printed T-shirt and an orange garment. A robotic arm is positioned above the box, with a glass partition showing a conference room with yellow tables and rolling stools in the background.", "global_instruction_dense": "The right robotic arm moves from above the white storage box toward the light pink T-shirt on the gray chair, grasps the T-shirt, lifts it, moves it over the white storage box, releases it into the box, then moves back above the box.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 29, "tasks": ["place clothing"], "length": 79, "global_instruction": "Remove the white mask with green patterns from its stand and place it flat on the black table.", "scene_description": "A black table holds an upright white mask with green patterns on a central stand, a white object with metal pins on its left, and a robotic arm at its rear, with office workstations in the background.", "global_instruction_dense": "The right robotic arm moves toward the upright white mask on the stand, grasps it, lifts it off the stand, releases it to lay flat on the black table, then retracts.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 30, "tasks": ["place clothing"], "length": 168, "global_instruction": "Pick up the light green patterned mask from its stand and place it on the black tabletop.", "scene_description": "A black tabletop is in the foreground, with a white irregular object on its left edge, a light green patterned face mask resting on a small stand at the rear of the table, and an office workspace with desks and supplies in the background.", "global_instruction_dense": "The right robotic arm moves toward the light green patterned mask on the stand at the rear of the black table, grasps the mask, lifts it upward, moves it over the center of the table, then releases the mask to drop it onto the black table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 31, "tasks": ["place clothing"], "length": 105, "global_instruction": "Pick up the white gloves clipped to the small stand and place them on the black table.", "scene_description": "A black table sits against a green wall, white gloves are clipped to a small black articulated stand on the table, with office equipment and furniture in the background.", "global_instruction_dense": "The right robotic gripper descends toward the white gloves clipped to the small stand, grasps and lifts the gloves, then releases them onto the black table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 32, "tasks": ["place clothing"], "length": 154, "global_instruction": "Pick up the white glove from the small stand and place it on the black tabletop.", "scene_description": "A black table has a green base with white pegs on its left, a small black articulated stand with a white glove draped over it near the back green backdrop, a retracted black robotic arm at the back right of the table, and office equipment in the background.", "global_instruction_dense": "The right robotic arm extends from its retracted position, moves to the white glove on the small black stand, grasps the glove, lifts it off the stand, moves it to the center of the black table, and releases the glove onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 33, "tasks": ["place clothing"], "length": 196, "global_instruction": "Pick up the white glove on the table and hang it on the small black stand near the green wall.", "scene_description": "A white glove lies on the center of a black table, a small black articulated stand sits near the green wall at the table's rear, with lab equipment including chairs, fill lights and boxes in the background.", "global_instruction_dense": "The right robotic gripper moves down toward the white glove on the black table, grasps the glove, lifts it, moves left to the small black articulated stand near the green wall, hangs the glove on the stand, then releases the glove and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 34, "tasks": ["place clothing"], "length": 160, "global_instruction": "Pick the white fabric mask from its stand and place it on the black table.", "scene_description": "A white fabric mask is placed on a small stand at the rear of a black table, a green wall is behind the table, and lab/office equipment including monitors, chairs, and boxes are visible to the right of the table.", "global_instruction_dense": "The right robotic gripper moves down toward the white mask on the stand, grasps it, lifts it off the stand, moves it forward over the black table, lowers it, and releases it flat onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 35, "tasks": ["place clothing"], "length": 225, "global_instruction": "Pick the white glove from its stand and place it on the black table.", "scene_description": "A white glove is held by a small black articulated stand on a black table, a black dispenser sits behind the stand, with a green wall in the background and office furniture in the surrounding area.", "global_instruction_dense": "The right robotic arm moves down toward the white glove on the small stand, grasps and pulls the glove off the stand, then lowers and places the glove onto the black table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 36, "tasks": ["place clothing"], "length": 112, "global_instruction": "Pick the white glove from the black stand and place it onto the beige sheet on the table.", "scene_description": "A black table holds a white glove draped over a black articulated stand, a tall black cylindrical device, and a long beige rectangular sheet, with a green curtain, office chair and tripod in the background.", "global_instruction_dense": "The right robotic arm moves toward the white glove on the black articulated stand, grasps the glove to lift it off the stand, moves it over the beige sheet on the table, then releases the glove to place it onto the sheet.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 37, "tasks": ["place clothing"], "length": 203, "global_instruction": "Pick up the light green patterned face mask on the desk and place it on the wooden book stand.", "scene_description": "A white office desk holds a light brown wooden book stand at center-right, a white power strip with orange buttons left of the stand, a light green patterned face mask left of the power strip, a purple sheet under the stand, with a grey office partition and overhead ceiling lights in the background.", "global_instruction_dense": "The right robotic arm descends from above toward the light green patterned face mask on the white office desk, grasps the mask with its gripper, lifts the mask, moves it rightward over the wooden book stand, and releases it onto the surface of the stand.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 38, "tasks": ["place clothing"], "length": 167, "global_instruction": "Pick up the light green patterned mask and place it on the slanted wooden stand.", "scene_description": "A white office desk holds a light green patterned mask, a slanted wooden stand to the right of the mask, a purple paper under the stand, and a white power strip behind the mask, with a robotic gripper positioned above the desk.", "global_instruction_dense": "The robotic gripper moves downward toward the light green patterned mask on the desk, closes to grasp the mask, lifts it up, moves it rightward over the slanted wooden stand, then releases the mask to rest on the wooden stand.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 39, "tasks": ["place clothing"], "length": 97, "global_instruction": "Pick up the light green patterned mask from the wooden stand and place it on the office desk surface.", "scene_description": "A white office desk has a wooden reading stand at its center, a light green mask with green patterns draped over the stand, a white power strip to the left of the stand, a small purple paper sheet under the stand's right edge, and a gray partition behind the desk, with a robotic arm above the desk.", "global_instruction_dense": "The right robotic gripper moves downward toward the light green patterned mask on the wooden reading stand, grasps the mask, lifts it, moves left over the desk, then lowers and releases the mask onto the white desk surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 40, "tasks": ["place clothing"], "length": 128, "global_instruction": "Pick up the light green patterned mask and place it on the wooden stand", "scene_description": "A white office desk holds a light green patterned cloth mask, a white power strip with orange switches, a wooden book stand, a purple square paper, and a monitor on the right. A robotic arm is positioned above the desk.", "global_instruction_dense": "The right robotic arm moves down toward the light green patterned mask on the left of the desk, grasps it with its gripper, lifts it upward, moves it right over the wooden stand, and places the mask onto the stand.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 41, "tasks": ["place clothing"], "length": 167, "global_instruction": "Place the light green mask on the desk onto the wooden stand.", "scene_description": "A white office desk holds a light brown wooden stand at the front center, a white power strip left of the stand, a purple paper sheet under the stand, a light green printed mask to the right of the stand, a black backpack behind the mask against a gray partition, and a computer monitor on the far right of the desk.", "global_instruction_dense": "The right robotic arm moves down from above the desk, grasps the light green printed mask resting on the desk to the right of the wooden stand, lifts the mask, moves it over the wooden stand, and places it leaning against the front of the wooden stand.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 42, "tasks": ["place clothing"], "length": 155, "global_instruction": "Pick the green dotted fabric mask from the partition and place it on the table.", "scene_description": "A white table holds a white power strip, a purple paper sheet, and a glass partition. A light green dotted fabric mask hangs on the partition, and a robotic arm is at the upper right.", "global_instruction_dense": "The right robotic arm moves left toward the green dotted mask hanging on the glass partition, grasps it, lifts it away from the partition, lowers it to the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 43, "tasks": ["place clothing"], "length": 98, "global_instruction": "Pick up the hanging light green patterned mask and place it onto the office desk.", "scene_description": "A white office desk holds a white power strip on the left, a purple mat at the center, and a monitor on the right. A light green patterned mask hangs above the desk, with office partitions and ceiling lights in the background.", "global_instruction_dense": "The right robotic gripper moves toward the hanging light green patterned mask, grasps it, lowers it over the desk, and releases it onto the desk surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 44, "tasks": ["place clothing"], "length": 268, "global_instruction": "Pick up the black sock near the window and place it on the brown armchair's armrest.", "scene_description": "A light brown wooden side table against a light wall holds a white mug and a white plate with a small key on it; a brown upholstered armchair is to the left of the table, a dark worktable with a white robotic arm (purple indicator lights) is to the right, and a windowsill above a white heater has a red-light blue cap and small blue, white, pink items on it.", "global_instruction_dense": "The right robotic arm reaches toward the black sock near the window, grasps it, moves it left to the brown armchair's armrest, lowers the sock onto the armrest, releases it, and lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 45, "tasks": ["place clothing"], "length": 171, "global_instruction": "Pick up the black sock from the sofa armrest and place it on the white plate on the wooden side table.", "scene_description": "A brown sofa is on the left with a black sock resting on its armrest. Next to the sofa, a light wooden side table holds a white mug, white plate, and small keys, with an attached smaller wooden surface holding a yellow lemon. To the right, a black worktable holds a robotic arm with purple lights, a white radiator sits under a window, and a red-and-blue cap rests on the windowsill.", "global_instruction_dense": "The right robotic arm moves down to the black sock on the brown sofa armrest, grasps the sock, lifts it, moves it left over the white plate on the light wooden side table, then lowers and releases the sock onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 46, "tasks": ["place clothing"], "length": 226, "global_instruction": "Place the pair of black socks onto the brown sofa armrest", "scene_description": "A light brown wooden side table against the wall holds a white plate with a key and a yellow ball next to the plate. A brown sofa is left of the table, a robotic arm is mounted on a black table to the right, and a red and blue cap rests on the window sill above a white heater.", "global_instruction_dense": "The right robotic arm reaches toward the window area, grasps the pair of black socks, moves them left over the brown sofa armrest, and releases the socks onto the armrest.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 47, "tasks": ["place clothing"], "length": 233, "global_instruction": "Place the black sock from the extended shelf section onto the brown sofa arm", "scene_description": "A light brown wooden shelf holds a white plate with a yellow lemon, a white mug, and a black sock on its extended small wooden section. A brown sofa is to the left of the shelf, a window sill with a dark bowl and red-blue cap is above a white radiator behind the shelf, and a robotic workbench with purple lights is to the right.", "global_instruction_dense": "The right robotic arm moves toward the black sock on the extended small wooden shelf, grasps it, lifts it, moves it left to the brown sofa arm, places the sock on the sofa arm, then releases and retracts away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 48, "tasks": ["place clothing"], "length": 175, "global_instruction": "Pick up the black sock from the white plate and place it next to the wall heater below the window.", "scene_description": "A light brown wooden side table holds a white plate with an orange medicine bottle and black sock, plus a small white object next to the plate; a brown sofa is to the left of the table, a black workbench with a robotic arm is to the right, and a windowsill above the wall heater holds a blue bowl and red cap.", "global_instruction_dense": "The right robotic gripper moves into the frame from above, approaches the black sock on the white plate atop the wooden table, grasps the sock, lifts it, moves right toward the wall heater below the window, lowers the sock, and releases it next to the heater.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 49, "tasks": ["place clothing"], "length": 206, "global_instruction": "Pick up a dark purple hat from the couch and place it onto the orange ramen box on the couch.", "scene_description": "A brown couch holds two dark purple hats, an orange ramen package box, and miscellaneous items. Colorful athletic gear is stacked left of the couch, and a robotic arm mounted on a right worktable is positioned in the upper right initially.", "global_instruction_dense": "The left robotic arm moves from its initial upper right position leftward and downward toward the upright dark purple hat on the couch, grasps the hat, lifts it, moves it over the orange ramen box, lowers the hat, releases it onto the box, then lifts slightly away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 50, "tasks": ["place clothing"], "length": 399, "global_instruction": "Place a silver rectangular object on the white foreground surface, then retrieve a black sock from the tote bag and return it to the bag.", "scene_description": "A beige canvas tote bag with green and blue accents rests on a brown sofa. A black golf bag holding clubs stands against the white wall left of the sofa, and a plain white curved surface is in the foreground with no visible robotic arm.", "global_instruction_dense": "The right robotic arm enters the frame carrying a silver rectangular object, places it on the white curved foreground surface, then moves to the beige canvas tote bag on the brown sofa, grasps a black sock inside the bag, lifts it out, then lowers the sock back into the bag and releases it.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 51, "tasks": ["place clothing"], "length": 207, "global_instruction": "Place the white shirt into the pink dotted laundry basket", "scene_description": "A pink dotted fabric laundry basket with white lining rests on a light wooden table, a white shirt sits next to the basket on the table, and a brown leather sofa is to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the white shirt beside the basket on the table, grasps the shirt with its gripper, lifts it, moves it over the pink laundry basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 52, "tasks": ["place clothing"], "length": 181, "global_instruction": "Pick up the white shirt from the laundry basket and release it back into the basket.", "scene_description": "A pink polka-dot laundry basket with brown handles sits on a light wooden coffee table, with a white shirt resting on top of the basket's contents. A brown three-seat sofa is to the left of the table, a brown armchair with assorted items is to the right, a grey bladeless fan stands near the white back door on a wooden floor, and a robotic arm is at the top right of the frame.", "global_instruction_dense": "The right robotic gripper moves downward toward the white shirt in the pink polka-dot laundry basket, grasps the shirt, lifts it upward above the basket, then lowers the shirt and releases it back into the laundry basket.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 53, "tasks": ["place clothing"], "length": 331, "global_instruction": "Take the light blue garment from the basket and place it on the coffee table.", "scene_description": "A large brown leather sofa is on the left, a smaller brown armchair with stacked items is in the back, a wooden coffee table in the foreground holds a dark green garment and a green plastic bottle, a light blue garment sits in a partially visible basket at the bottom left, and white robotic arms are at the top and right of the frame.", "global_instruction_dense": "The left robotic gripper reaches down into the bottom-left basket to grasp the light blue garment, lifts it upward, moves it over the foreground coffee table, lowers it, and releases it onto the dark green clothing on the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 54, "tasks": ["place clothing"], "length": 618, "global_instruction": "Pick up the blue and white plaid shirt from the laundry basket and place it back into the basket.", "scene_description": "A laundry basket with a blue and white plaid shirt inside rests on a wooden floor in the foreground. Behind it is a light wooden coffee table holding a green plastic bottle, small white tag, and dark cloth. Brown leather sofas, a white door, and a silver standing fan are in the background, with a left robotic gripper positioned above the basket.", "global_instruction_dense": "The left robotic gripper moves down toward the blue and white plaid shirt in the laundry basket, grasps and lifts the shirt, adjusts its position while holding it in the air, then lowers the shirt back into the laundry basket and releases it.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 55, "tasks": ["place clothing"], "length": 310, "global_instruction": "Grasp a white shirt from the laundry basket and place it back into the basket.", "scene_description": "A light gray laundry basket rests on a wooden floor, stacked cardboard boxes are against the left plain wall, and a kitchen with light wooden cabinets, a silver refrigerator, and a microwave is visible in the background, with a robotic arm positioned above the basket.", "global_instruction_dense": "The left robotic gripper lowers into the light gray laundry basket, grasps a white shirt, lifts it upward above the basket, then lowers and releases the shirt back into the basket before moving upward away from the basket.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 56, "tasks": ["place clothing"], "length": 310, "global_instruction": "Pick the dark garment from the laundry basket and place it back into the basket.", "scene_description": "A light gray laundry basket sits on a wooden kitchen floor, with a dark garment and light fabric inside; kitchen cabinets, a refrigerator, and stacked boxes are in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the laundry basket, grasps a dark garment inside the basket, lifts it upward, then lowers it back into the basket and releases the garment.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 57, "tasks": ["place clothing"], "length": 362, "global_instruction": "Pick a white garment from the laundry basket and place it back into the basket.", "scene_description": "A gray fabric laundry basket rests on a light wooden floor in a residential apartment, with a kitchen area (light wood cabinets, silver refrigerator, countertop appliances) in the background, a brown sofa with stacked packages against the left wall, and a white robotic arm positioned above the basket.", "global_instruction_dense": "The left robotic arm moves downward into the gray laundry basket, grasps a white garment, lifts it into the air, then lowers the garment and releases it back into the laundry basket.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 58, "tasks": ["place clothing"], "length": 344, "global_instruction": "Pick up a white garment from the laundry basket and place it back into the basket.", "scene_description": "A grey laundry basket with a white garment inside rests on the wooden floor of a residential kitchen. A white and grey robotic arm is positioned above the basket, with wooden kitchen cabinets, a stainless steel refrigerator, and a brown couch holding stacked boxes visible in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the white garment inside the laundry basket, closes its gripper to grasp the garment, lifts the garment upward, lowers it back into the laundry basket, then opens its gripper to release the garment.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 59, "tasks": ["place clothing"], "length": 411, "global_instruction": "Move the small white slipper and green-capped tube to the rear area of the desk near the purple cloth.", "scene_description": "A light wooden desk has a black monitor on its left side, two small white tubes, a dark purple cloth, a yellow sticky note, and a red dumbbell-shaped object, with papers and miscellaneous items on the desk's left edge.", "global_instruction_dense": "The right robotic arm descends to grasp the small white slipper on the front of the desk, lifts it, moves it to the rear area near the dark purple cloth and releases it, then descends to grasp the white tube with a green cap, moves it to the same rear area, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 60, "tasks": ["place clothing"], "length": 242, "global_instruction": "Move the black face mask on the right area of the desk to the left side of the desk near the black package.", "scene_description": "A light wooden desktop holds a black monitor on its left area, a black face mask, purple cloth, small lip balm tubes, a yellow note, red long object, a brown-and-white mouse on a gray pad, and a black package with papers on the far left edge. A robotic arm is positioned above the right side of the desk.", "global_instruction_dense": "The right robotic arm moves down toward the black face mask on the right section of the desk, grasps the mask, lifts it, moves leftward to the area near the black package on the left of the desk, lowers and releases the mask, then moves upward away from the desk surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 61, "tasks": ["place clothing"], "length": 316, "global_instruction": "Take a black garment from the open desk drawer and place it on the desk surface.", "scene_description": "A light wooden desk holds a black monitor on its left, assorted items including black fabric, purple fabric, a brown plush toy, lip balms, a black wallet, and a red object. An open drawer with folded clothes sits under the desk's right side, and a robotic arm is above the desk's right edge.", "global_instruction_dense": "The right robotic arm moves downward into the open desk drawer, grasps a black tagged garment, lifts it out of the drawer, moves it leftward over the desk, lowers it, and releases it onto the desk next to other fabric items.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 62, "tasks": ["place clothing"], "length": 254, "global_instruction": "Place the black glove on the desk into the open desk drawer", "scene_description": "A light wooden desk holds a black monitor on its left, a black glove, a brown and white plush toy, white lip balm tubes, and a red utility knife. An open drawer with miscellaneous items sits on the right side of the desk, and a robotic gripper is positioned above the desk.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the black glove on the desk, lifts and moves the glove over the open desk drawer, releases the glove into the drawer, then moves toward the red utility knife on the desk.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 63, "tasks": ["place clothing"], "length": 444, "global_instruction": "Take items from the open desk drawer and place them on the desk surface.", "scene_description": "A light beige desk holds a black monitor on its left, small tube items on its center, an open drawer with assorted contents at its right edge, and a right robotic arm is positioned at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves to the open desk drawer, grasps a black glove, lifts it out and places it on the desk, then returns to the drawer, grasps an orange packaged item, lifts it out and places it on the desk.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 64, "tasks": ["place clothing"], "length": 365, "global_instruction": "Pick up the black glove from the desk and place it on the dark rectangular object on the desk.", "scene_description": "A light wooden office desk with a black monitor on its left side holds a brown decorative slipper, black gloves, a small white tube, black strap, black elongated case, and a red rectangular block. A smaller adjacent light wood table holds a small dark bottle, a black case with a green label, and another red rectangular block, with a white and gray robotic arm positioned above the desk.", "global_instruction_dense": "The right robotic arm moves downward toward the black glove on the desk, grasps the glove with its gripper, lifts it upward, moves it over the dark rectangular object on the desk, lowers the glove, releases it onto the object, then moves back upward away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 65, "tasks": ["place clothing"], "length": 230, "global_instruction": "Pick up a white garment from the bed and place it back onto the bed surface.", "scene_description": "A bed with a light blue bedspread has four piles of clothing (gray plaid, two white, dark blue) resting on its surface, a robotic arm is positioned to the right of the bed, and a clothing rack with hanging garments is in the right background.", "global_instruction_dense": "The right robotic arm moves left toward the bed, lowers to grasp a white garment, lifts the garment upward, adjusts its position slightly, lowers the garment back to the bed, and releases it onto the bedspread.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 66, "tasks": ["place clothing"], "length": 194, "global_instruction": "Reposition the blue and white plaid shirt from its initial spot to another location on the bed.", "scene_description": "A wooden-framed bed with a light blue bedspread has a pile of crumpled clothes including a blue and white plaid shirt on its right side; a white robotic arm is positioned to the right of the bed, with a clothing rack holding hung garments behind the arm.", "global_instruction_dense": "The right robotic arm moves toward the clothes pile on the bed, grasps the blue and white plaid shirt, lifts the shirt, moves it to a new position over the bed, then releases the shirt onto the bed surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 67, "tasks": ["place clothing"], "length": 293, "global_instruction": "Reposition the gray plaid shirt on the bed.", "scene_description": "A bed with light blue sheets holds a pile of clothes including a gray plaid shirt, white shirt, dark blue shirt, and black cloth. A white robotic arm is positioned to the right of the bed next to a clothing rack with hanging shirts.", "global_instruction_dense": "The right robotic arm moves toward the gray plaid shirt on the bed, grasps it, lifts it, moves it to a new position on the bed, and adjusts its placement before releasing it.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 68, "tasks": ["place clothing"], "length": 153, "global_instruction": "Move the upper white shirt on the bed to the clothing pile on the left side of the bed.", "scene_description": "A bed with light blue bedsheets holds multiple clothing items: white shirts, black Nike pants, a gray cap, and other light garments. A white robotic arm sits to the right of the bed next to a clothing rack with hanging shirts.", "global_instruction_dense": "The left robotic arm descends toward the white shirt on the upper part of the bed, grasps it with its gripper, drags it left to the clothing pile on the bed, releases the shirt, then moves upward away from the bed.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 69, "tasks": ["place clothing"], "length": 225, "global_instruction": "Pick up the black hat from the bed and place it in a new position on the bed.", "scene_description": "A bed with light blue bedsheets holds a pile of clothes including a black Nike hat, white shirt, and other garments, with a white robotic arm positioned to the right of the bed next to a clothing rack with hanging shirts.", "global_instruction_dense": "The left robotic arm moves down toward the black Nike hat on the bed, grasps the hat with its gripper, lifts and moves the hat over the bed, lowers it, and releases it onto a new spot on the bed near the pile of other clothes.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 70, "tasks": ["place clothing"], "length": 227, "global_instruction": "Pick up the light gray t-shirt from the clothes pile on the bed and place it in a separate spot on the bed.", "scene_description": "A bed with light blue sheets holds a pile of clothes (white shirt, gray plaid garment, light gray t-shirt, dark sock, khaki fabric) near its edge. A dual-arm robotic unit stands next to the bed, with a clothing rack of hanging shirts behind the robot.", "global_instruction_dense": "The left robotic arm moves downward toward the light gray t-shirt on the bed, grasps it, lifts it, moves it to a new position adjacent to the original clothes pile on the bed, lowers and releases the shirt, then moves upward away from the placed shirt.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 71, "tasks": ["place clothing"], "length": 227, "global_instruction": "Place the dark blue garment on the bed onto the top of the existing clothes stack.", "scene_description": "A bed with light blue bedding holds a stack of mixed garments (white, light striped, beige) and a separate dark blue garment to the left of the stack. A dual-arm white robot is positioned to the right of the bed, with a clothing rack holding hanging shirts in the background.", "global_instruction_dense": "The right robotic arm moves left from above the clothes stack to the dark blue garment on the bed, grasps it, lifts it, moves right to position it over the clothes stack, lowers it onto the top of the stack, then releases the garment and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 72, "tasks": ["place clothing"], "length": 283, "global_instruction": "Adjust the position of the grey plaid shirt on the bed.", "scene_description": "A bed with light blue sheets holds crumpled clothes: a grey plaid shirt, a white garment, a khaki garment, and a dark blue garment. A white robotic arm sits to the right of the bed, with a clothing rack of hanging shirts in the background.", "global_instruction_dense": "The right robotic gripper moves toward the grey plaid shirt on the bed, grasps it, lifts it upward, lowers it back to the bed, adjusts its position, then releases the shirt and moves away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 73, "tasks": ["place clothing"], "length": 201, "global_instruction": "Move the black sock on the bed to the area beside the white crumpled garment.", "scene_description": "A bed with light blue bedsheets has multiple pieces of clothing (black sock, dark blue garment, white garment, plaid shirt) spread on its surface, a white robotic arm is positioned at the right side of the bed.", "global_instruction_dense": "The right robotic arm moves down toward the black sock on the bed, grasps it with its gripper, lifts the sock, moves it toward the white crumpled garment on the bed, then releases the sock to place it beside the white garment.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 74, "tasks": ["place clothing"], "length": 223, "global_instruction": "Move the dark blue garment on the bed to a new left position on the bed.", "scene_description": "A bed covered with light blue sheets holds a black sock, a dark blue garment, and other folded clothes on its right half, with a robotic arm positioned to the right of the bed.", "global_instruction_dense": "The right robotic arm descends toward the dark blue garment on the bed, grasps it, lifts and shifts it leftward across the bed, lowers and releases it onto the bed surface, then retracts slightly.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 75, "tasks": ["place clothing"], "length": 260, "global_instruction": "Pick up the small black garment from the bed and place it on the dark navy clothing pile.", "scene_description": "A bed with light blue bedsheets holds several pieces of folded clothing: dark navy garments, a grey plaid garment, a white folded garment, and a small black garment with white trim. A white robotic arm is positioned at the right edge of the bed next to a clothes rack with hanging clothes.", "global_instruction_dense": "The right robotic arm moves downward toward the small black garment on the bed, grasps it, lifts it, moves it left over the dark navy clothing pile, lowers it, releases it onto the pile, then moves upward away from the bed.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 76, "tasks": ["place clothing"], "length": 270, "global_instruction": "Place the folded white garment onto the stack of other folded clothes on the bed.", "scene_description": "A bed with light blue bedsheets holds multiple folded clothing items: a stack of dark blue and gray-and-white plaid clothes on the left, and a separate folded white garment on the right. A white robotic arm is positioned to the right of the bed, with its gripper hovering above the white garment.", "global_instruction_dense": "The right robotic gripper lowers toward the folded white garment on the right of the bed, grasps it, lifts it, moves it left over the stack of other folded clothes, lowers and releases it onto the stack, then moves upward away from the clothes.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 77, "tasks": ["place clothing"], "length": 171, "global_instruction": "Place the dark top garment from the clothing stack on the bed over the black and red cap.", "scene_description": "A bed with light blue bedsheets holds a stack of clothing including a black and red cap and a dark top garment, with a robotic arm positioned above the bed to the right of the clothing stack.", "global_instruction_dense": "The left robotic arm moves down toward the dark top garment on the clothing stack, grasps it, lifts it, moves it over the black and red cap, lowers and releases it to cover the cap, then moves upward away from the clothing.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 78, "tasks": ["place clothing"], "length": 179, "global_instruction": "Pick up the black hat stacked on the red hat and place it beside the red hat on the bed.", "scene_description": "A bed with light blue bed sheets holds a black Nike hat stacked on top of a red hat. A dual-arm white robotic system is positioned to the right of the bed, with a clothing rack holding hanging clothes in the background.", "global_instruction_dense": "The right robotic gripper moves toward the black hat stacked on the red hat on the bed, grasps the black hat, lifts it, moves it to the area beside the red hat, lowers it, and releases it onto the bed surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 79, "tasks": ["place clothing"], "length": 693, "global_instruction": "Pick up the black socks from the brown cardboard tray and place them into the white paper bag.", "scene_description": "A granite kitchen counter holds a brown cardboard tray with multiple black socks, a white paper bag adjacent to the tray, three blue Fiji water bottles behind the bag, a green patterned tissue box left of the tray, and a white paper towel roll behind the tissue box, with a right robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm repeatedly reaches toward the black socks in the brown cardboard tray on the counter, grasps each sock, lifts it, moves it over the adjacent white paper bag, and releases it into the bag until all socks are placed inside.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 80, "tasks": ["place clothing"], "length": 1066, "global_instruction": "Place all black socks from the open cardboard box into the adjacent white paper bag on the kitchen counter.", "scene_description": "A granite kitchen counter holds an open cardboard box filled with black socks, a white paper bag to the right of the box, three blue FIJI water bottles behind the box, a roll of white paper towels to the left of the box, and a green printed tissue box next to the paper towels, plus small items like a white napkin and a red-white snack packet.", "global_instruction_dense": "The right robotic arm repeatedly reaches into the cardboard box on the counter, grasps a black sock, lifts it, moves over the white paper bag, releases the sock into the bag, and resets position, until nearly all socks from the box are placed inside the bag.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 81, "tasks": ["place clothing"], "length": 687, "global_instruction": "Place all black socks from the open cardboard box into the white paper shopping bag on the kitchen counter.", "scene_description": "A granite kitchen counter holds an open cardboard box filled with black socks, a green patterned tissue box, a tall white paper towel roll, multiple blue Fiji water bottles, and a white paper shopping bag, with a robotic arm positioned above the counter near the bag.", "global_instruction_dense": "The left robotic arm repeatedly moves down to grasp a black sock from the open cardboard box, lifts the sock, moves it over the white paper shopping bag, releases the sock into the bag, and returns to the box until all socks are placed in the bag.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 82, "tasks": ["place clothing"], "length": 1155, "global_instruction": "Pick up all black socks from the cardboard box and place them into the white paper shopping bag.", "scene_description": "A granite kitchen counter holds an open cardboard box filled with black socks, a green patterned tissue box, a roll of white paper towels, three blue Fiji water bottles, and a white paper shopping bag. A robotic arm is positioned above the right side of the counter.", "global_instruction_dense": "The right robotic arm repeatedly moves to the cardboard box on the counter, grasps a black sock, carries the sock over the white paper shopping bag, releases the sock into the bag, and returns to the box until all socks are placed in the bag, then moves to a rest position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 83, "tasks": ["place clothing"], "length": 692, "global_instruction": "Place all black socks from the pizza box into the white paper shopping bag.", "scene_description": "A granite kitchen counter holds an open brown pizza box with black socks inside, a white paper shopping bag to the right of the box, three blue FIJI water bottles beside the bag, a green patterned tissue box, a roll of white paper towels, and small snack items on the counter left. A right robotic gripper is positioned above the white shopping bag initially.", "global_instruction_dense": "The right robotic gripper moves from above the white shopping bag to the pizza box, grasps a black sock, lifts and moves it over the bag to release it inside, repeats this process for all remaining black socks in the pizza box, then moves back to its rest position once all socks are placed in the bag.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 84, "tasks": ["place clothing"], "length": 530, "global_instruction": "Place all black socks from the open cardboard box into the white paper shopping bag", "scene_description": "A granite kitchen counter holds an open cardboard box with three black socks, a white paper shopping bag, three blue Fiji water bottles, a roll of white paper towels, a green patterned tissue box, and several snack packets. A robotic arm is positioned above the white paper bag.", "global_instruction_dense": "The right robotic arm moves down to the open cardboard box, grasps a black sock, lifts it, moves it over the white paper shopping bag, releases the sock into the bag, and repeats this sequence for the remaining two black socks until all are inside the bag.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 85, "tasks": ["place clothing"], "length": 988, "global_instruction": "Place all black socks from the brown cardboard box into the white paper shopping bag on the kitchen counter.", "scene_description": "A brown open cardboard box holding multiple black socks, a green patterned tissue box, a roll of white paper towels, three blue Fiji water bottles, and a white paper shopping bag with handles are arranged on a granite kitchen counter. A robotic gripper is positioned above the counter.", "global_instruction_dense": "The right robotic arm repeatedly moves between the brown cardboard box of black socks and the white paper shopping bag, grasping each sock from the box, moving it to the bag, and releasing it into the bag until all socks are placed in the bag.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 86, "tasks": ["place clothing"], "length": 994, "global_instruction": "Pick black socks from the brown cardboard box and place them into the white paper shopping bag.", "scene_description": "A granite kitchen counter holds a brown cardboard box containing black socks, a green patterned tissue box, three blue Fiji water bottles, a roll of white paper towels, and a white paper shopping bag, with a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm extends toward the brown cardboard box on the granite counter, grasps black socks from inside the box, lifts each sock, moves to the white paper shopping bag, releases the sock into the bag, and repeats this until all socks from the box are placed in the bag.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 87, "tasks": ["place clothing"], "length": 2171, "global_instruction": "Place black socks from the cardboard box into the white paper bag.", "scene_description": "A granite kitchen counter holds a cardboard box filled with black socks, a white paper bag, blue Fiji water bottles, a roll of white paper towels, a green patterned tissue box, and snack packages. A white robotic arm is positioned above the right side of the counter.", "global_instruction_dense": "The right robotic arm repeatedly reaches into the cardboard box of black socks on the kitchen counter, grasps each sock, lifts it, moves it to the white paper bag, and releases the sock into the bag until most socks are placed inside.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 88, "tasks": ["place clothing"], "length": 2855, "global_instruction": "Place all black socks from the open cardboard box into the adjacent white paper shopping bag.", "scene_description": "A granite kitchen counter holds an open light brown cardboard box with multiple black socks, a white paper shopping bag with white handles to the right of the box, three blue Fiji water bottles behind the bag, a tall roll of white paper towels left of the water bottles, a green patterned tissue box between the paper towel roll and the box, and a small white napkin left of the box. A robotic arm is at the right edge of the frame above the counter.", "global_instruction_dense": "The right robotic arm repeatedly moves toward the open cardboard box on the granite kitchen counter, grasps a black sock from the box, lifts the sock, moves it over the adjacent white paper shopping bag, and releases the sock into the bag until all socks from the box are placed inside the bag.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 89, "tasks": ["place clothing"], "length": 511, "global_instruction": "Place all black socks from the brown cardboard box into the white paper shopping bag.", "scene_description": "A granite kitchen counter holds an open brown cardboard box containing several black socks, three blue Fiji water bottles, a white paper shopping bag, a white paper towel roll, and a green patterned tissue box, with a right robotic arm positioned at the upper right above the counter.", "global_instruction_dense": "The right robotic arm moves sequentially to each black sock in the open brown cardboard box on the kitchen counter, grasps each sock, lifts it, moves it over the adjacent white paper shopping bag, releases it into the bag, and repeats until all socks are placed inside the bag.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 90, "tasks": ["place clothing"], "length": 670, "global_instruction": "Place all black socks from the cardboard box into the white paper shopping bag", "scene_description": "A granite kitchen counter holds an open light brown cardboard box filled with black socks in the foreground. To the right of the box is a tall white paper shopping bag with handles, with three blue FIJI water bottles with red caps positioned behind the bag. A roll of white paper towels, a green tissue box decorated with orange floral patterns, and small miscellaneous items are also placed on the counter, with a robotic arm situated above the white paper bag.", "global_instruction_dense": "The right robotic arm repeatedly moves down to the cardboard box of black socks, grasps a single sock, lifts and moves the sock over the white paper shopping bag, releases the sock into the bag, until all socks from the box are placed inside the shopping bag.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 91, "tasks": ["place clothing"], "length": 677, "global_instruction": "Place all black socks from the open brown box into the white paper shopping bag.", "scene_description": "A speckled granite kitchen counter has a white paper shopping bag on its right side, an open brown box holding multiple black socks on its left side, with small packaged items and wooden dining chairs visible in the background.", "global_instruction_dense": "The left robotic arm first adjusts the white paper shopping bag, then repeatedly grasps individual black socks from the open brown box, lifts each sock, moves it over the shopping bag, and releases the sock into the bag until all socks are stored inside.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 92, "tasks": ["place clothing"], "length": 735, "global_instruction": "Place all black socks from the cardboard box into the white paper shopping bag on the kitchen counter.", "scene_description": "A granite kitchen counter holds a cardboard box full of black socks in the front left, a white paper shopping bag to the right of the box, a green patterned box behind the cardboard box, and small red-and-white and green-and-white packages to the left of the cardboard box, with two wooden chairs behind the counter and a left robotic arm positioned above the counter near the white bag.", "global_instruction_dense": "The left robotic arm repeatedly moves to the cardboard box of black socks, grasps each sock, lifts it, carries it over to the white paper shopping bag, releases the sock into the bag, then returns to the box for the next sock until all socks are placed in the bag, after which the arm rests above the counter.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 93, "tasks": ["place clothing"], "length": 715, "global_instruction": "Place black socks from the brown cardboard box into the white paper shopping bag.", "scene_description": "A speckled granite kitchen counter holds an open brown cardboard box filled with black socks on the left, a white paper shopping bag with handles on the right, and a robotic arm positioned above the white bag.", "global_instruction_dense": "The left robotic arm repeatedly moves between the brown cardboard box of black socks and the white paper shopping bag, grasping items from the box, lifting and moving them to the bag, releasing them inside, and correcting a failed drop to successfully place all items into the bag.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 94, "tasks": ["place clothing"], "length": 588, "global_instruction": "Pick all black socks from the open brown box and place them into the white paper shopping bag.", "scene_description": "A granite kitchen counter holds an open brown cardboard box filled with black socks, a white paper shopping bag to the right of the box, a green patterned tissue box to the left of the box, and wooden dining chairs behind the counter.", "global_instruction_dense": "The left robotic gripper repeatedly moves to the open brown box on the granite counter, grasps a black sock, lifts it, moves it over to the white paper shopping bag, and drops the sock into the bag until all socks from the box are placed inside the bag.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 95, "tasks": ["place clothing"], "length": 321, "global_instruction": "Place the black garment from the couch into the open cardboard box.", "scene_description": "An open brown cardboard box sits on the left of a tan couch, a black garment, a yellow-covered book rest on the couch seat, a clear plastic water bottle with a blue cap is on the small side table next to the couch, an unmade bed is in the background, and a white robotic arm is positioned above the couch.", "global_instruction_dense": "The right robotic arm moves downward toward the black garment on the couch, grasps it with its gripper, lifts the garment, moves it over the open cardboard box, lowers it, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 96, "tasks": ["place clothing"], "length": 273, "global_instruction": "Pick up the dark garment from the sofa and place it into the open cardboard box.", "scene_description": "A light brown sofa holds an open cardboard box, a gray garment, a white printed sign, and a small blue-capped plastic water bottle. A right robotic arm is positioned above the sofa, with an unmade bed and a desk with a monitor in the background.", "global_instruction_dense": "The right robotic arm moves down to grasp the dark garment resting on the light brown sofa, lifts the garment, moves it over the open cardboard box on the sofa, lowers the garment, and releases it into the box before lifting back up.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 97, "tasks": ["place clothing"], "length": 145, "global_instruction": "Take the dark blue hoodie out of the cardboard box and place it on the couch.", "scene_description": "A tan leather couch holds an open cardboard box containing a dark blue hoodie. A robotic arm is positioned above the couch, with an unmade bed with white bedding in the background.", "global_instruction_dense": "The right robotic arm moves toward the dark blue hoodie inside the cardboard box on the couch, grasps the hoodie with its gripper, lifts it out of the box, moves it rightward over the couch surface, and releases it onto the couch.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 98, "tasks": ["place clothing"], "length": 337, "global_instruction": "Pick up the gray hoodie from the sofa and place it into the open brown box on the sofa.", "scene_description": "A tan sofa holds an open brown box on its left section and a gray hoodie on its right section. A bed with rumpled white sheets, a desk with a black monitor, and a black office chair are in the background. A white robotic arm is positioned at the upper right near a white door.", "global_instruction_dense": "The right robotic arm moves downward toward the gray hoodie on the right of the tan sofa, grasps it with its gripper, lifts the hoodie, moves it leftward over the open brown box on the sofa, lowers the hoodie into the box, releases it, then moves upward away from the box.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 99, "tasks": ["place clothing"], "length": 244, "global_instruction": "Pick the black garment from the couch and place it into the open cardboard box in front of the couch.", "scene_description": "A brown couch holds a black garment, a white paper with text, a coiled white umbrella, and a small brown package. An open cardboard box with a water bottle inside sits in front of the couch. The background includes an unmade bed with white sheets, a desk with a black monitor, and a black office chair, with a robotic arm positioned on the right.", "global_instruction_dense": "The right robotic arm moves downward toward the black garment on the couch, grasps it with its gripper, lifts the garment, moves it over the open cardboard box in front of the couch, releases the garment into the box, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 100, "tasks": ["place clothing"], "length": 242, "global_instruction": "Take the black hoodie from the white box on the sofa and place it on the adjacent sofa cushion.", "scene_description": "A brown sofa holds an open white box with a black hoodie inside, a printed white paper, a small brown box, and a rolled white item. In the background are a bed with white bedding, a desk with a monitor, and a white robotic arm.", "global_instruction_dense": "The left robotic arm moves down to the white box on the brown sofa, grasps the black hoodie inside the box, lifts it, moves it right over the adjacent sofa cushion, releases the hoodie onto the cushion, then moves upward away from the sofa.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 101, "tasks": ["place clothing"], "length": 224, "global_instruction": "Pick up the black garment on the brown sofa and place it into the open white storage box in front of the sofa.", "scene_description": "A brown sofa has a black garment and a white paper on its seat, with an open white storage box placed in front of the sofa. A bed with white bedding, a desk with dual monitors and a black office chair are in the background, and a robotic arm is positioned at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the black garment on the brown sofa, grasps it, lifts it up, moves it over the open white storage box, lowers the garment into the box, releases it, then moves back upward to its original position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 102, "tasks": ["place clothing"], "length": 148, "global_instruction": "Pick the black garment from the white cardboard box and place it on the brown sofa", "scene_description": "A brown sofa holds an open white cardboard box with a black garment on its rim, a white printed paper, a small brown box, and a white crumpled bottle, with a robotic arm above the box, a bed and desk are in the background.", "global_instruction_dense": "The right robotic arm moves toward the black garment on the rim of the white cardboard box, grasps the garment, lifts it out of the box, moves it over the brown sofa, and releases it onto the sofa surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 103, "tasks": ["place clothing"], "length": 247, "global_instruction": "Pick up the black garment on the sofa and place it into the open white cardboard box", "scene_description": "A brown sofa holds a black garment and a white paper, with an open white cardboard box in front of the sofa; a bed with white bedding, a desk with dual monitors, and a black office chair are in the background, with the right robotic arm positioned above the sofa area.", "global_instruction_dense": "The right robotic arm moves downward toward the black garment on the brown sofa, grasps the garment with its gripper, lifts it up, moves it over the open white cardboard box in front of the sofa, lowers the garment into the box, and releases the gripper to deposit the garment inside the box.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 104, "tasks": ["place clothing"], "length": 238, "global_instruction": "Take the black garment out of the white box and place it on the brown sofa", "scene_description": "A white open box containing a black garment, a printed white paper, and a brown box with a white card are arranged on a brown sofa. In the background, a bed with white bedding and a round white pillow, plus a desk with a black monitor and black office chair are visible, with a white robotic arm positioned at the right side of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the white box on the brown sofa, grasps the black garment inside the box, lifts the garment out of the box, moves it over the sofa surface, releases the garment onto the sofa, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 105, "tasks": ["place clothing"], "length": 281, "global_instruction": "Place the black garment on the couch into the adjacent open white storage box.", "scene_description": "A brown couch is in the foreground, with a black garment and a white card placed on its seat, an open white storage box containing a yellow item sits next to the couch. A bed with white bedding and a round white pillow is behind the couch, a desk with a black monitor is 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 black garment on the couch, grasps it with its gripper, lifts the garment, moves it over the nearby open white storage box, lowers it into the box, releases the garment, then moves away from the box.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 106, "tasks": ["place clothing"], "length": 335, "global_instruction": "Pick up the black jacket on the sofa and place it into the adjacent white storage box.", "scene_description": "A brown sofa holds a white storage box with a brown interior and a black jacket with white stripes. In the background, there is a bed with light blue bedding, a desk with a black monitor, and a gray office chair, with a robotic arm at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the black jacket with white stripes on the brown sofa, grasps it with its gripper, lifts it, moves it over the nearby white storage box, lowers it into the box, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 107, "tasks": ["place clothing"], "length": 296, "global_instruction": "Place the black garment on the sofa into the open white storage box on the sofa.", "scene_description": "An open white storage box, a black garment, a white printed paper, and a crumpled silver package rest on a brown sofa; a bed with white linens, a desk with a black monitor, and a black office chair are in the background, with a robotic gripper positioned at the top right of the initial frame.", "global_instruction_dense": "The right robotic gripper moves toward the black garment on the sofa, grasps it, lifts it, moves it over the open white storage box, lowers it into the box, releases the garment, then moves upward away from the box.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 108, "tasks": ["place clothing"], "length": 466, "global_instruction": "Pick up the black striped jacket from the sofa and place it into the white box on the sofa.", "scene_description": "A brown sofa holds a white dotted pillow on the left, a white open box with a printed note at the center, and a black jacket with white stripe details on the right. A bed with white bedding, a desk with a monitor and an office chair are in the background, with a robotic arm positioned at the right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the black jacket with white stripes on the brown sofa, grasps the jacket with its gripper, lifts and adjusts the jacket to position it over the white open box on the sofa, lowers the jacket into the box, releases it, and then lifts the arm away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 109, "tasks": ["place clothing"], "length": 210, "global_instruction": "Place the dark blue garment on the couch into the light gray storage box", "scene_description": "A brown couch holds a light gray storage box with a text-printed white paper insert, a dark blue garment rests on the couch to the right of the box. A bed with white bedding and a desk with a black monitor are in the background, a right robotic arm is at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the dark blue garment on the couch, grasps the garment, lifts it, moves it over the light gray storage box, lowers it into the box, and releases the garment inside the box.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 110, "tasks": ["place clothing"], "length": 417, "global_instruction": "Place the dark blue jacket and white printed paper onto the brown sofa surface.", "scene_description": "A brown sofa holds a dark blue jacket, an open cardboard box with a white printed paper inside rests beside the jacket; a bed, desk with monitor, and office chair are in the background, a right robotic arm is positioned at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the dark blue jacket, grasps it, lifts and releases it onto the sofa, then moves to the white paper in the box, grasps the paper, lifts it, and releases it on top of the jacket on the sofa.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 111, "tasks": ["place clothing"], "length": 637, "global_instruction": "Place the dark blue striped garment into the open cardboard box on the brown sofa.", "scene_description": "A brown sofa is in the foreground with an open light brown cardboard box on its seat. A dark blue garment with white stripes is held by the right robotic gripper, and a bed with light blue sheets, a desk with a monitor, and an office chair are in the background.", "global_instruction_dense": "The right robotic gripper repeatedly grasps the dark blue striped garment, lowers sections of it into the open cardboard box on the brown sofa, and adjusts the garment's position to fully place it inside the box.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 112, "tasks": ["place clothing"], "length": 715, "global_instruction": "Place the dark striped jacket from the cardboard box into the left white paper shopping bag.", "scene_description": "A speckled kitchen counter has a dark bottle with a yellow cap on its far left, two white paper shopping bags on the left, and an open cardboard box containing a dark jacket with three white stripes on its sleeve in the center. A robotic arm is positioned on the right side of the counter, with a living area featuring a sofa, window, and furniture visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the open cardboard box, grasps the dark jacket with white sleeve stripes inside the box, lifts the jacket out of the box, moves it left toward the white paper shopping bag, lowers the jacket into the bag, releases the jacket, and moves back to its starting position on the right.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 113, "tasks": ["place clothing"], "length": 296, "global_instruction": "Place the black jacket with white stripes into the open white cardboard box.", "scene_description": "A mottled kitchen counter holds a dark bottle with a yellow cap, a white paper shopping bag with handles, and an open white cardboard box with a brown interior. A white and gray robotic arm is positioned to the right of the box, with a living area with a couch and window in the background.", "global_instruction_dense": "The right robotic arm moves left to grasp the black jacket with white stripes, lifts the jacket, moves it over the open white cardboard box, lowers the jacket into the box, releases it, and moves back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 114, "tasks": ["place clothing"], "length": 307, "global_instruction": "Remove dark garments from the cardboard box and place them on the kitchen counter.", "scene_description": "A marble-patterned kitchen counter holds a white paper bag, a dark bottle with a yellow cap, a long thin packaged item, and an open cardboard box containing dark garments with white stripes. A robotic arm is positioned above the box, with a living room area including a sofa and window visible in the background.", "global_instruction_dense": "The right robotic arm moves down to grasp a dark striped garment from the cardboard box, lifts it, moves it left, releases it onto the counter beside the white paper bag, then returns to the box to grasp another dark garment, lifts it, moves it left, releases it onto the counter, then moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 115, "tasks": ["place clothing"], "length": 294, "global_instruction": "Pick up the black jacket with white stripes and place it into the open brown cardboard box.", "scene_description": "A granite kitchen counter holds a white paper bag on the left, an open brown cardboard box in the center, a black bottle with a tan cap on the far left, and a white robotic arm is positioned to the right of the box, with a living room containing a sofa and window visible in the background.", "global_instruction_dense": "The right robotic arm moves left toward the black jacket with white stripes on the lower left of the counter, grasps the jacket, lifts it, moves right over the open brown cardboard box, and releases the jacket into the box.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 116, "tasks": ["place clothing"], "length": 276, "global_instruction": "Pick up the yellow shoe and place it into the black backpack", "scene_description": "A black backpack leans against a white wall, a yellow shoe rests on a dark rug in front of the backpack, a green palm plant is on the left, and a bicycle wheel is visible through the right doorway over wooden flooring.", "global_instruction_dense": "The right robotic arm extends from the right side of the frame toward the yellow shoe on the rug, grasps the shoe, lifts it, moves it to the opening of the black backpack, inserts the shoe inside, then releases the shoe and retracts away from the backpack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 117, "tasks": ["place clothing"], "length": 530, "global_instruction": "Place the yellow slipper into the black backpack", "scene_description": "A black backpack leans against a white wall, a yellow slipper rests on the floor left of the backpack, green plant foliage is at the left frame edge, and a bicycle wheel is visible in the background right on wooden flooring.", "global_instruction_dense": "The right robotic arm moves toward the yellow slipper on the floor, grasps it, lifts it, moves it to the black backpack, inserts it into the backpack's front pocket, adjusts to push it fully inside, then retracts away from the backpack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 118, "tasks": ["place clothing"], "length": 300, "global_instruction": "Place a gray sock from the kitchen counter into the red GoodLife Fitness bag", "scene_description": "A red GoodLife Fitness bag, a pile of gray and white socks, a pink cloth, a black water bottle, and a black microwave are on a speckled kitchen counter; a sink is on the left end of the counter, an open laptop sits on the far right end, and a robotic arm is positioned high above the counter initially.", "global_instruction_dense": "The right robotic arm moves downward toward the pile of socks on the kitchen counter, grasps a gray sock with its gripper, lifts the sock, moves it over the red bag on the counter, releases the sock into the bag, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 119, "tasks": ["place clothing"], "length": 267, "global_instruction": "Pick up the white Puma sock from the kitchen counter and place it into the red duffel bag.", "scene_description": "A red GoodLife Fitness duffel bag rests on a beige kitchen counter, with multiple garments including a white Puma sock, a pink cloth, and other clothing items on the adjacent counter section near a sink, alongside a white robotic arm, black microwave, open laptop on top of the microwave, and cleaning supplies near the sink.", "global_instruction_dense": "The left robotic arm extends toward the white Puma sock on the kitchen counter, grasps the sock, lifts and moves it over the red duffel bag, lowers the sock, releases it into the bag, then retracts back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 120, "tasks": ["place clothing"], "length": 400, "global_instruction": "Take the dark slipper out of the red bag and place it on the kitchen counter.", "scene_description": "A yellowish-brown kitchen counter holds an open red bag at its back edge, a laptop sits on a black appliance to the right of the bag, and a robotic arm is positioned to the left of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the open red bag on the kitchen counter, grasps the dark slipper inside the bag, lifts the slipper out of the bag, moves it over the counter surface, lowers it, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 121, "tasks": ["place clothing"], "length": 599, "global_instruction": "Remove a gray sock from the red and black open bag and place it on the kitchen counter near the folded cloths.", "scene_description": "A red and black open fabric bag, a silver laptop on a black stand, and multiple folded cloths are placed on a speckled beige kitchen counter. The bag is left of the laptop, cloths are in the lower foreground; wooden cabinets, a white refrigerator, and a sink are in the background.", "global_instruction_dense": "The left robotic arm moves toward the gray sock inside the open red and black bag on the kitchen counter, grasps and adjusts its grip on the sock, lifts the sock out of the bag, moves it over the lower counter area near existing folded cloths, releases the sock onto the counter, and moves back toward the bag.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 122, "tasks": ["place clothing"], "length": 293, "global_instruction": "Remove a sock from the red bag and place it on the kitchen counter.", "scene_description": "An open red and black bag rests on a light brown kitchen counter, with a robotic arm positioned above the bag, small cloth items in front of the bag, and kitchen appliances on the right side of the counter below wooden upper cabinets.", "global_instruction_dense": "The right robotic arm lowers into the open red bag on the kitchen counter, grasps a grey printed sock, lifts it out of the bag, moves it rightward over the counter, and releases it onto the counter near other cloth items.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 123, "tasks": ["place clothing"], "length": 686, "global_instruction": "Pick up the light gray hoodie from the clothes stack and hang it on the white drying rack.", "scene_description": "A light beige sofa holds a stack of clothes (black, bright orange, light gray) on the left, a white metal drying rack stands next to a dark brown leather sofa on the right, and a white humanoid robot is positioned left of the clothes stack.", "global_instruction_dense": "The right robotic gripper moves down toward the light gray hoodie in the clothes stack, grasps it, lifts and moves it right to the white drying rack, positions it to hang on the rack, releases the hoodie, then moves back to its starting position above the clothes.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 124, "tasks": ["place clothing"], "length": 1966, "global_instruction": "Pick black garments from the clothes pile on the sofa and place them onto the drying rack.", "scene_description": "A white robotic arm is positioned to the left of a pile of mixed-color clothes (black, orange, white, gray) on a light beige sofa, with a white drying rack holding gray and orange fabric to the right of the sofa, a bright wall lamp in the right background, and a camera mounted on a stand to the left of the clothes pile.", "global_instruction_dense": "The right robotic gripper grasps a black garment from the clothes pile on the sofa, lifts and moves it rightward to place it on the drying rack, then returns to the pile to grasp another black garment, lifts and moves it to the rack, and releases the second garment onto the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 125, "tasks": ["place clothing"], "length": 333, "global_instruction": "Place the light gray garment from the drying rack onto the pile of clothes on the left.", "scene_description": "A pile of assorted clothes (red, black, gray, white) sits on a low surface on the left, a white metal folding drying rack with a light gray garment draped over it is on the right, a white robotic arm is positioned at the upper left, with a floor lamp and brown sofa in the background.", "global_instruction_dense": "The right robotic arm moves toward the light gray garment on the drying rack, grasps it, lifts and moves it left over the clothes pile, lowers and releases it onto the pile, then moves back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 126, "tasks": ["place clothing"], "length": 857, "global_instruction": "Pick up the white-gray sock from the table and place it onto the clothing pile on the adjacent couch.", "scene_description": "A white robotic arm is positioned above a table holding white-gray socks and black slippers. To the left of the table is a couch piled with assorted clothing, and a tall floor lamp sits in the far right corner.", "global_instruction_dense": "The left robotic arm moves downward toward the white-gray sock on the table, grasps it with the gripper, lifts and moves it left over the clothing pile on the adjacent couch, releases the sock onto the pile, then moves back to a position above the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 127, "tasks": ["place clothing"], "length": 424, "global_instruction": "Pick up the gray t-shirt from the table and place it onto the clothes pile on the adjacent couch.", "scene_description": "A table covered with a white cloth holds a gray t-shirt, two black shoe inserts, and a gray-green patterned cloth near its edge. To the table's left is a couch piled with assorted clothes, a white robotic arm is positioned above the table, and a floor lamp stands in the right corner of the room.", "global_instruction_dense": "The left robotic gripper descends toward the gray t-shirt on the table, grasps the t-shirt, lifts it, moves left over the clothes-piled couch, releases the t-shirt onto the pile, then moves upward away from the couch.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 128, "tasks": ["place clothing"], "length": 743, "global_instruction": "Pick up a black slipper from the table and place it into the clothes pile on the left sofa.", "scene_description": "A table covered with a beige cloth holds two black slippers, one with a white tag and its sole facing upward resting on the other. A sofa piled with clothes sits to the left of the table, a tall floor lamp and brown chair are in the right background against white walls, and a robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves toward the upper black slipper on the table, grasps it, adjusts and flips the slipper to reposition it, lifts it, moves it leftward over the clothes pile on the sofa, releases it to drop into the pile, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 129, "tasks": ["place clothing"], "length": 407, "global_instruction": "Pick up the black slipper from the table and place it onto the left clothes pile.", "scene_description": "A black slipper sits on a beige blanket-covered table, a white robotic arm is to the left of the table, a pile of assorted clothes is left of the table, a floor lamp and dark leather sofa are in the background, and dark clothing with green stripes is on the right end of the table.", "global_instruction_dense": "The left robotic gripper moves down toward the black slipper on the table, grasps the slipper, lifts it, moves left over the clothes pile, releases the slipper onto the pile, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 130, "tasks": ["place clothing"], "length": 482, "global_instruction": "Pick up the black sock from the sofa and place it on the white clothes drying rack.", "scene_description": "A white clothes drying rack is in the foreground, a cream towel with a black sock and dark clothing piled on a sofa sits to the rack's right; a red cloth is draped on the drying rack, a kitchen area with wooden cabinets, a microwave, and a large white protein powder container is in the background, with a bicycle near a doorway and a camera mount on the left.", "global_instruction_dense": "The right robotic gripper moves down toward the black sock on the cream towel on the sofa, grasps the sock, lifts it, moves it toward the white drying rack, positions it on a rack bar, and releases the sock to hang on the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 131, "tasks": ["place clothing"], "length": 376, "global_instruction": "Remove the red boxing glove from the brown cardboard box and place it on the kitchen counter.", "scene_description": "A black left robotic arm is positioned above the left side of a brown cardboard box resting on a light grey textured mat on a granite kitchen counter. A red boxing glove is inside the box, with coffee brewing appliances, a water filter, and wooden kitchen cabinets in the background.", "global_instruction_dense": "The left robotic arm moves toward the brown cardboard box, grasps the red boxing glove inside the box, lifts the glove upward to extract it from the tilting box, lowers the glove onto the kitchen counter to the left of the box, and releases the glove before lifting away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 132, "tasks": ["place clothing"], "length": 873, "global_instruction": "Hang all three hats from the metal shelving unit onto the red hooks on the wall-mounted metal pole.", "scene_description": "A white robotic arm is positioned to the left of a metal wire shelving unit against a light gray wall. The shelving unit holds a purple plastic basket on its lower shelf and three hats on its upper shelf. To the right of the shelf, a vertical metal pole with three empty red curved hooks is mounted on the wall.", "global_instruction_dense": "The left robotic arm sequentially grasps each hat from the upper shelf of the metal wire rack, lifts each hat, carries it to a corresponding empty red hook on the adjacent wall-mounted metal pole, positions the hat on the hook, and releases its gripper to hang the hat, until all three hats are hung on the three hooks.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 133, "tasks": ["place clothing"], "length": 721, "global_instruction": "Hang all the hats from the metal shelf onto the red hooks on the adjacent vertical pole.", "scene_description": "A metal wire shelf holding three stacked dark hats (top has an orange 'B' logo, middle has red text, bottom has white text) sits next to a vertical metal pole with two empty red hooks, a white robotic arm is to the left of the shelf in a light-walled indoor room.", "global_instruction_dense": "The left robotic arm sequentially grasps each hat from the stack on the metal shelf, moves each hat to an empty red hook on the vertical pole, hangs the hat, releases the gripper, and returns to the shelf until all three hats are hung on the hooks.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 134, "tasks": ["place clothing"], "length": 585, "global_instruction": "Place all four black hats from the wall hooks onto the metal wire shelf.", "scene_description": "Four black baseball caps hang on red-tipped hooks attached to a vertical metal pole on the right wall, a tiered metal wire shelf with a light purple plastic basket on its lower tier sits in front of the hooks, and a white robotic arm is positioned to the left of the shelf.", "global_instruction_dense": "The left robotic arm sequentially moves to each of the four black hats on the right wall hooks, grasps each hat, removes it from its hook, transports it over the metal wire shelf, and releases it onto the shelf until all hats are placed there.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 135, "tasks": ["place clothing"], "length": 700, "global_instruction": "Remove all hats from the wall hooks and place them onto the metal wire shelf.", "scene_description": "Four hats hang on wall-mounted hooks on the right of a hallway: a black baseball cap on the top left hook, a black mesh baseball cap on the top right hook, a black fabric mask on the lower left hook, and a dark gray baseball cap on the lower right hook. A metal wire shelf with a white plastic basket on its lower tier sits between the hooks and a robotic arm on the left. A white door, black chair, and bright work light are in the background.", "global_instruction_dense": "The right robotic arm sequentially grasps each of the four hats hanging on the wall hooks, lifts each hat off its hook, moves each hat over the metal wire shelf, releases each hat onto the shelf, then retracts away from the shelf once all hats are placed.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 136, "tasks": ["place clothing"], "length": 814, "global_instruction": "Pick black hats from the metal wire shelf and hang them on the red hooks of the vertical metal pole.", "scene_description": "A white robotic arm is positioned above a metal wire shelf holding stacked black hats, a vertical metal pole with two empty red curved hooks stands to the right of the shelf, with a lit lamp, dark chair, and open white door in the hallway background.", "global_instruction_dense": "The right robotic arm repeatedly grasps black hats from the metal wire shelf, moves each hat to a red hook on the adjacent vertical metal pole, hangs the hat on the hook, and returns to the shelf to retrieve the next hat until three hats are hung on the pole's hooks.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 137, "tasks": ["place clothing"], "length": 853, "global_instruction": "Hang black hats from the metal shelf onto the red hooks on the right metal pole.", "scene_description": "A white robotic arm is positioned near a metal wire shelf holding multiple black hats, a metal pole with empty red hooks stands against a light gray wall to the right, and a lit lamp and furniture are visible in the background.", "global_instruction_dense": "The left robotic arm sequentially grasps black hats from the metal wire shelf, moves each hat to a red hook on the right metal pole, hangs the hat on the hook, releases the gripper, and returns to the shelf until three hats are hung.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 138, "tasks": ["place clothing"], "length": 859, "global_instruction": "Place all hats hanging on the wall-mounted hooks onto the metal wire shelf.", "scene_description": "A white right robotic arm is positioned in front of a metal wire shelf. Multiple hats (dark gray with red logo, black) hang on red hooks attached to a vertical metal pole to the right of the arm, various items rest on the shelf, and a background room contains a door, chairs, and a bright lit lamp.", "global_instruction_dense": "The right robotic arm sequentially grasps each hat from the hooks on the vertical metal pole, moves each hat over the metal wire shelf, releases the hat onto the shelf, then moves away from the shelf after all hats are placed.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 139, "tasks": ["place clothing"], "length": 698, "global_instruction": "Pick hats and a bag from the metal wire shelf and hang them on the red hooks of the vertical metal pole.", "scene_description": "A metal wire shelf holding a black bag, a gray hat with red logo, and two black hats sits to the left of a vertical metal pole with four red hooks, in a light gray walled room with a white door in the background, and a white robotic arm is positioned on the left side of the scene.", "global_instruction_dense": "The left robotic arm sequentially grasps a black bag, a gray hat, and two black hats from the metal wire shelf, moves each item to the vertical metal pole, hangs each item on a separate red hook, then retracts back toward the shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 140, "tasks": ["place clothing"], "length": 1276, "global_instruction": "Place all three hats hanging from the pole's hooks onto the central metal wire shelf.", "scene_description": "A white robotic arm is on the left, a metal wire shelf is in the center, and a metal pole with hooks on the right holds a black hat on the top hook, a dark gray baseball cap with an orange 'B' emblem on the middle hook, and another black hat on the bottom hook.", "global_instruction_dense": "The left robotic arm sequentially grasps the black hat from the top pole hook, moves it to the central metal shelf and releases it; then grasps the dark gray cap with the orange 'B' emblem from the middle pole hook, moves it to the shelf and releases it; finally grasps the black hat from the bottom pole hook, moves it to the shelf and releases it, placing all three hanging hats on the shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 141, "tasks": ["place clothing"], "length": 366, "global_instruction": "Move the left black sneaker from the top shelf layer to the top surface of the metal shelf.", "scene_description": "A light yellow table holds a 3-tier metal shelf, which has a pair of black sneakers on its top left, a pair of dark blue sneakers on its top right, a pair of white sneakers on its middle layer, plus cleaning supplies, a brown paper bag, and a black keyboard to the right of the shelf. A California Republic flag hangs on the wall above the shelf, a white door is on the left side of the scene, and a left robotic arm is positioned near the left side of the shelf.", "global_instruction_dense": "The left robotic arm moves toward the left black sneaker on the top layer of the metal shelf, grasps the sneaker with its gripper, lifts it upward, moves it over the top surface of the shelf, lowers the sneaker, and releases it onto the shelf's top surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 142, "tasks": ["place clothing"], "length": 375, "global_instruction": "Move the black shoe from the second layer of the shoe rack to the top layer of the same rack.", "scene_description": "A metal four-tier shoe rack sits on a light wooden table, holding a black shoe on the top layer, a black shoe and blue sneakers on the second layer, and white sneakers on the bottom layer. A robotic arm is positioned left of the rack, a California Republic flag hangs on the wall behind, and a keyboard sits on the table to the rack's right.", "global_instruction_dense": "The left robotic arm extends toward the black shoe on the second layer of the shoe rack, grasps it, lifts it upward, moves it to the top layer next to the existing black shoe, lowers it into place, releases it, and retracts slightly.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 143, "tasks": ["place clothing"], "length": 496, "global_instruction": "Move a black shoe from the top shelf of the shoe rack to the middle shelf of the same rack.", "scene_description": "A white robotic arm is on the left of a light wooden table. A metal shoe rack sits on the table: top shelf has black shoes, middle shelf has dark blue shoes with white soles, bottom shelf has white shoes. A California Republic flag is on the wall behind the rack, and the table also holds a keyboard, cleaning supplies, a brown bag, and blue cloth, with a white door in the background.", "global_instruction_dense": "The left robotic arm moves toward a black shoe on the shoe rack's top shelf, grasps the shoe, lifts it off the top shelf, moves it downward toward the middle shelf, adjusts its position above the middle shelf, then releases the shoe to place it on the middle shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 144, "tasks": ["place clothing"], "length": 310, "global_instruction": "Move the black sneaker from the top shelf of the shoe rack to the middle shelf of the rack.", "scene_description": "A metal shoe rack holding multiple pairs of sneakers sits on a light wooden table. A white robotic arm is on the left of the table, a California Republic flag hangs on the wall behind the rack, and a door is visible in the background.", "global_instruction_dense": "The left robotic arm moves toward the black sneaker on the top shelf of the shoe rack, grasps it, lifts it, moves it down to the middle shelf, places it next to the existing black sneaker there, then releases it and retracts slightly.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 145, "tasks": ["place clothing"], "length": 504, "global_instruction": "Pick a white sneaker from the bottom tier of the shoe rack and place it on the middle tier of the rack.", "scene_description": "A three-tier metal shoe rack rests on a light wooden table: the top tier holds dark blue sneakers, the middle tier holds black sneakers and one white sneaker, the bottom tier holds two white sneakers. A white robotic arm is positioned to the left of the rack, a California Republic flag hangs on the wall behind the rack, and a white door is on the far left of the scene.", "global_instruction_dense": "The left robotic arm moves toward the bottom tier of the shoe rack, grasps a white sneaker, lifts it up to the middle tier of the rack, positions it next to the existing white sneaker on the middle tier, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 146, "tasks": ["place clothing"], "length": 310, "global_instruction": "Drape the dark blue shirt from the table over the edge of the adjacent wooden chair.", "scene_description": "A white robotic arm sits left of a wooden table. On the table are a dark blue shirt, purple fabric, white rice cooker, and gray container. A California Republic flag hangs on the back wall, a silver fridge is on the far left, and a wooden chair is positioned at the table.", "global_instruction_dense": "The left robotic arm moves toward the dark blue shirt on the wooden table, grasps it, lifts and moves it to the adjacent wooden chair, drapes the shirt edge over the chair, releases the shirt, then retracts away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 147, "tasks": ["place clothing"], "length": 268, "global_instruction": "Pick up the purple garment from the chair and place it on the table", "scene_description": "A white robotic arm is on the left, a light wooden table is in the center. A purple garment and black garment drape over a wooden chair next to the table. The table holds a white rice cooker, grey trash bin, small pink container, and blue cloth. A California Republic flag hangs on the right wall, a stainless steel fridge is on the left, and a white door is at the back.", "global_instruction_dense": "The left robotic arm moves toward the purple garment on the chair, grasps it with its gripper, lifts it, moves it over the adjacent table, lowers the garment onto the table surface, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 148, "tasks": ["place clothing"], "length": 518, "global_instruction": "Place the jackets from the chair onto the wooden table.", "scene_description": "A wooden table in an indoor room holds a white rice cooker, gray trash bin, and purple cloth. A black jacket rests on the back of a wooden chair in front of the table, a dark blue jacket is on the chair's edge, a California Republic flag hangs on the wall, and a silver refrigerator is positioned to the left of the table next to a white robotic arm.", "global_instruction_dense": "The right robotic arm moves toward the black jacket on the chair back, grasps it, lifts and moves it over the table before releasing it onto the table, then moves toward the dark blue jacket on the chair edge, grasps it, lifts and moves it over the table before releasing it onto the pile of clothes on the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 149, "tasks": ["place clothing"], "length": 206, "global_instruction": "Place a red hat from the stack on the table onto the black hat on the stand.", "scene_description": "A light wooden table holds a black hat on a stand, a stack of red hats, a clear bowl, an orange disc, a white container, and small packaged items. A white robotic arm is positioned left of the table, a brown couch with folded clothing sits right of the table, and a door is visible in the background.", "global_instruction_dense": "The left robotic arm moves toward the stack of red hats on the table, grasps the top red hat, lifts it, moves it over the black hat on the stand, lowers the red hat onto the black hat, releases it, then retracts.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 150, "tasks": ["place clothing"], "length": 412, "global_instruction": "Remove a dark sneaker from the closed black striped shoe box on the table and place it on the table surface.", "scene_description": "A light wooden table holds a closed black shoe box with white stripes, a brown shipping box with a blue label edge, several cups, and green plastic bottles. A white robotic arm is positioned to the left of the table, with a shoe rack holding shoes and a white door visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the closed black striped shoe box on the table, grasps its lid to open the box, reaches inside to grasp a dark sneaker, lifts the sneaker out of the box, moves it to the empty table surface next to the box, and releases the sneaker onto the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 151, "tasks": ["place clothing"], "length": 280, "global_instruction": "Take the dark blue sneaker out of the striped shoe box and place it next to the other sneaker on the table.", "scene_description": "A light wooden table holds an open black shoe box with white stripes containing a dark blue sneaker, another dark blue sneaker on the table surface, a brown shipping box to the right, and a white robotic arm is positioned to the left of the table, with cups, extra boxes, a shoe rack, and a door in the background.", "global_instruction_dense": "The left robotic arm moves toward the open striped shoe box, grasps the dark blue sneaker inside it, lifts the sneaker out of the box, moves it rightward over the table next to the already placed sneaker, lowers the sneaker, releases it onto the table, and retracts upward away from the shoes.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 152, "tasks": ["place clothing"], "length": 498, "global_instruction": "Place the two dark blue sneakers into the open brown shoe box on the table.", "scene_description": "A light wooden table has an open brown shoe box with white vertical stripes at its center, two dark blue sneakers rest on the edge of a light wooden chair next to the table, and a brown shipping box with a blue seal is on the table's right. A white robotic arm is positioned left of the table, with cups, a green bottle, other boxes in the background, and shoes on the wooden floor near the door.", "global_instruction_dense": "The right robotic gripper moves toward a dark blue sneaker on the chair edge, grasps it, lifts it over the open brown shoe box, lowers and releases it into the box, then moves toward the remaining dark blue sneaker, grasps it, lifts it over the box, lowers and releases it into the shoe box.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 153, "tasks": ["place clothing"], "length": 330, "global_instruction": "Place the blue mask pack into the clear plastic storage box on the wooden table.", "scene_description": "A light brown wooden table holds a clear plastic storage box, purple tissue box, multiple cups, a green cleaning bottle, and cardboard boxes; a white right robotic arm is positioned above the left upper area of the table, with the robot base on the left side of the frame.", "global_instruction_dense": "The right robotic arm moves from its initial upper left position toward the blue mask pack on the right side of the table, grasps and lifts the mask pack, moves it left above the clear plastic storage box, lowers it, and releases it into the storage box.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 154, "tasks": ["place clothing"], "length": 205, "global_instruction": "Place the grey hoodie from the table edge onto the adjacent light blue chair", "scene_description": "A grey work table holds a black toaster, a white water bottle with an orange logo, a black storage caddy, a small blue cap, and a yellow-capped bottle. A grey hoodie with red text rests on the table's right edge next to a light blue padded chair, with two white robotic arms positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the grey hoodie on the right edge of the grey table, grasps the hoodie, lifts it, moves it over the nearby light blue chair, releases it onto the chair seat, then moves back toward the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 155, "tasks": ["place clothing"], "length": 184, "global_instruction": "Place the grey hoodie from the light blue chair onto the grey table", "scene_description": "A grey table holds a black toaster, a white water bottle with red logo, a small blue lid, and a black basket. A light blue chair to the table's right has a grey hoodie on its seat, and two white robotic arms are to the table's left.", "global_instruction_dense": "The right robotic arm moves toward the grey hoodie on the light blue chair, grasps the hoodie, lifts it, moves it over the grey table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 156, "tasks": ["place clothing"], "length": 363, "global_instruction": "Place the blue plaid garment on top of the washing machine and operate the washing machine controls.", "scene_description": "Three white commercial washing machines are lined up side-by-side. A yellow water bottle, white detergent bottle, and pile of assorted clothes rest on the top surface of the machines. A blue plaid garment is held by the robotic gripper above the middle washing machine, and a white robotic arm is positioned on the left side of the view. The middle washing machine's detergent drawer is closed initially.", "global_instruction_dense": "The left robotic gripper lifts the blue plaid garment, moves it to place it on the top of the middle washing machine, then the left robotic arm moves to press buttons on the middle washing machine's control panel, before moving away from the machine.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 157, "tasks": ["place clothing"], "length": 426, "global_instruction": "Move the yellow water bottle aside and place two garments onto the white clothing pile on the table.", "scene_description": "A white table holds a light yellow water bottle, piles of white, black, and red fabric garments, a floral-patterned fabric basket filled with clothes, and a translucent white plastic container on the far right; the right robotic gripper is positioned above the white garments near the water bottle.", "global_instruction_dense": "The right robotic gripper first moves to and grasps the yellow water bottle, shifts it rightward on the table and releases it, then moves to the garment pile, grasps a black-and-orange garment and places it on the white clothing pile, then grasps a red garment and places it on top of the pile before moving away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 158, "tasks": ["place clothing"], "length": 186, "global_instruction": "Take a dark blue sweater with white trim from the floral basket and place it on the white table.", "scene_description": "A white table holds a floral-patterned basket of clothes, scattered white/orange/black clothes to the left of the basket, a yellow pump bottle and white plastic bottle in the front right, with a white robotic arm above the table and a washing machine in the background left.", "global_instruction_dense": "The left robotic arm moves toward the floral basket on the table, grasps the dark blue sweater with white trim inside it, lifts the sweater out of the basket, moves it left over the table surface, lowers it, releases it onto the table, then moves away from the placed sweater.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 159, "tasks": ["place clothing"], "length": 271, "global_instruction": "Take the blue plaid garment from the floral bag and place it on the table", "scene_description": "A white table holds a floral-patterned fabric bag, several piles of clothes (white, dark blue, orange with black) to the left of the bag, a light yellow bottle and a translucent white plastic bottle in front of the clothes piles, and a white robotic arm positioned above the left-side clothes piles.", "global_instruction_dense": "The right robotic arm moves toward the floral bag on the table, grasps the blue plaid garment inside the bag, lifts the garment out of the bag, moves it left over the table's clothes piles, then lowers and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 160, "tasks": ["place clothing"], "length": 271, "global_instruction": "Pick up the dark blue sweater with orange floral prints from the table and place it back onto the table surface.", "scene_description": "A white table holds multiple pieces of clothing including a dark blue sweater with orange floral prints, a white plastic bottle, a yellow container, and a pink floral printed bag. A white washing machine is in the background to the left, and a white robotic arm is positioned at the left side of the table.", "global_instruction_dense": "The left robotic arm moves toward the dark blue sweater with orange floral prints on the table, grasps it, lifts it upward, then lowers it and releases it back onto the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 161, "tasks": ["place clothing"], "length": 170, "global_instruction": "Pick up the light gray garment at the right table edge and place it on the left side of the table near stacked clothes.", "scene_description": "A white table against a light gray wall holds stacked dark and white folded garments, a clear white bottle, a red bag, a floral tote with orange straps, a pale yellow tall water bottle, and a light gray garment at the right edge. A white left robotic arm is positioned at the left side of the table.", "global_instruction_dense": "The left robotic arm moves right toward the light gray garment at the right table edge, grasps it with its gripper, lifts it, moves left over the stacked folded clothes on the left table, lowers the garment, releases it onto the table, then moves upward away from the placed garment.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 162, "tasks": ["place clothing"], "length": 380, "global_instruction": "Place the dark garment with orange patterns into the floral tote bag with orange handles.", "scene_description": "A white robotic arm is on the left side of a white table. On the table, a folded dark garment with orange patterns rests atop a stack of clothes, a white plastic bottle and small items are behind the stack, a floral tote bag with orange handles is to the right of the stack, and additional folded items are on the far right of the table.", "global_instruction_dense": "The left robotic gripper moves to grasp the dark garment with orange patterns from the table, lifts it, moves it over the floral tote bag, releases it into the bag, adjusts the garment's position in the bag, then moves away from the bag.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 163, "tasks": ["place clothing"], "length": 475, "global_instruction": "Place the folded dark blue plaid garment on the table into the floral orange-handled tote bag", "scene_description": "A white table holds a folded dark blue garment with blue plaid lining, a white plastic bottle, a floral print tote bag with orange handles filled with clothes, a folded yellow garment, and a folded black garment. A white robotic arm is positioned to the left of the table, and a white microwave sits in the background left corner.", "global_instruction_dense": "The left robotic arm first repositions a dark garment inside the floral orange-handled tote bag, then grasps the folded dark blue plaid garment from the table, lifts it, moves it over the tote bag, lowers it into the bag, and adjusts the bag's contents to ensure the garment is fully placed inside.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 164, "tasks": ["place clothing"], "length": 201, "global_instruction": "Place the folded light gray garment into the floral tote bag with orange handles.", "scene_description": "A white table holds a folded light gray garment on its left, a white plastic bottle, a stack of assorted garments behind the bottle, a floral tote bag with orange handles to the bottle's right, a pale yellow water bottle to the tote's right, and a black garment on the table's far right, with a robotic arm positioned left of the table.", "global_instruction_dense": "The left robotic arm moves down toward the folded light gray garment on the white table, grasps it, lifts it upward, moves it rightward over the floral tote bag with orange handles, lowers it into the bag, releases the garment, and lifts its gripper away from the bag.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 165, "tasks": ["place clothing"], "length": 336, "global_instruction": "Place the blue hoodie from the office chair back onto the chair seat.", "scene_description": "A blue hoodie is draped over the back of a black mesh office chair. A white robotic arm is positioned at the top right of the frame. The background includes a counter with a sink, green, orange, and blue plastic cups, two stacked blue trash bins, a cabinet with a cardboard box on its top to the left, and a workbench with orange-handled clamps to the right.", "global_instruction_dense": "The right robotic arm moves toward the blue hoodie draped over the black office chair's back, grasps the hoodie, lifts and adjusts it repeatedly, then releases it onto the chair's seat.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 166, "tasks": ["place clothing"], "length": 259, "global_instruction": "Move the blue hoodie from the back of the orange office chair onto the chair's seat.", "scene_description": "A blue hoodie is draped over the back of an orange office chair. In the background, there is a white counter with a sink, colorful plastic cups and water bottles, a large blue trash bin, a small grey trash bin under the counter, a small white and black table with a brown cardboard box on it, a black mesh office chair on the left, and a dark worktable with a robotic arm and equipment on the right.", "global_instruction_dense": "The right robotic gripper moves toward the blue hoodie on the back of the orange office chair, grasps and lifts it, moves it over the chair seat and releases it onto the seat, then moves down to grasp a section of the hoodie on the seat, lifts it briefly, releases it, and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 167, "tasks": ["place clothing"], "length": 172, "global_instruction": "Lift the dark blue hoodie from the orange chair back and drop it onto the chair's seat.", "scene_description": "A dark blue hoodie is draped over the back of a central orange mesh office chair, a black mesh office chair is to the left of the orange chair, a sink-equipped counter sits in the background, and a white robotic arm is positioned to the right of the orange chair.", "global_instruction_dense": "The right robotic arm moves toward the dark blue hoodie on the orange chair back, closes its gripper to grasp the hoodie, lifts the hoodie upward above the chair, then opens its gripper to release the hoodie so it falls onto the orange chair's seat.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 168, "tasks": ["place clothing"], "length": 319, "global_instruction": "Pick up the blue denim jacket from the orange chair and place it back onto the same chair.", "scene_description": "A blue denim jacket is draped over an orange textured chair. A white robotic arm is positioned to the right of the chair, in a workshop with office desks, chairs and overhead ceiling lights in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue denim jacket resting on the orange chair, grasps the jacket with its gripper, lifts it upward, then lowers it back onto the orange chair before releasing the jacket and moving back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 169, "tasks": ["place clothing"], "length": 159, "global_instruction": "Grasp the blue garment in the foreground and move it to a new position.", "scene_description": "An indoor robotics lab with light gray flooring, metal worktables, black office chairs with red backs, a metal storage cage with yellow trim in the left background, ceiling fluorescent lights and ventilation, and a white Franka Emika robotic arm on the right foreground.", "global_instruction_dense": "The right robotic arm moves toward the blue garment in the lower foreground, grasps it with its gripper, lifts the garment, moves it away from its original position, and repositions it.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 170, "tasks": ["place clothing"], "length": 241, "global_instruction": "Pick up the blue jacket and place it in a lower position.", "scene_description": "An office lab workspace with grey flooring, yellow-trimmed work desks, red and black office chairs, ceiling lights, and a Franka Emika robotic arm on the right side of the view.", "global_instruction_dense": "The right robotic arm moves downward, grasps the dark blue jacket with its gripper, lifts and adjusts the jacket's position, then releases it before moving back upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 171, "tasks": ["place clothing"], "length": 182, "global_instruction": "Pick up the dark blue garment from the floor and place it back down.", "scene_description": "An indoor laboratory workspace with a white Franka robotic arm on the right, a dark blue garment lying on the floor below the arm, and office desks with red-and-black chairs in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the dark blue garment on the floor, grasps it with its gripper, lifts the garment upward, then lowers and releases it back onto the floor.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 172, "tasks": ["place clothing"], "length": 176, "global_instruction": "Lift the white sweater from the red chair and place it back onto the chair.", "scene_description": "A white Franka robotic arm rests on a black right worktable, a white table with a light blue mini oven sits in the background, a red foreground chair holds a white sweater and blue knit fabric. The right worktable also has a yellow T-shaped tool, white VR headset, and a laptop with blue accent lighting.", "global_instruction_dense": "The right robotic arm moves toward the white sweater on the red foreground chair, grasps it, lifts it upward, then lowers and releases it back onto the chair before returning to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 173, "tasks": ["place clothing"], "length": 202, "global_instruction": "Move a circular camera rig across the workspace then lift and replace the white sweater on the foreground red chair.", "scene_description": "A white Franka robotic arm, yellow T-shaped safety plug, white VR headset, and black power bank are on a black work table to the right. A light blue mini oven, black camera mount, and small colorful cups sit on a white background table. A red foreground office chair holds a white sweater and dark blue speckled fabric, with gray curtains and a distant office workspace visible.", "global_instruction_dense": "The left robotic arm moves a circular camera rig horizontally across the upper workspace, then moves to the foreground red chair to grasp and lift the white sweater, before lowering and placing it back onto the chair.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 174, "tasks": ["place clothing"], "length": 346, "global_instruction": "Reposition the cream and blue sweaters placed on the red office chair.", "scene_description": "A cream-colored sweater and blue speckled sweater rest on a red office chair. To the chair's right is a black work table holding a white Franka robotic arm, yellow T-shaped tool, white VR headset, and laptop; a white table with a light blue mini oven stands in the background.", "global_instruction_dense": "The left robotic arm moves toward the cream sweater on the red office chair, grasps and lifts it, releases it onto the chair seat, then grasps the blue speckled sweater on the chair, lifts and releases it to drape over the chair back before retracting.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 175, "tasks": ["place clothing"], "length": 274, "global_instruction": "Lift the dark blue sweater from the orange chair and place it back onto the chair.", "scene_description": "An orange chair with a dark blue patterned sweater resting on it sits beside a black workbench holding a Franka robotic arm, yellow T-shaped tool, white VR headset, and laptop, with a white table and office area in the background.", "global_instruction_dense": "The left robotic arm moves toward the dark blue patterned sweater on the orange chair, grasps it, lifts it upward, moves it slightly, then lowers and releases it back onto the orange chair before returning to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 176, "tasks": ["place clothing"], "length": 199, "global_instruction": "Drag the pink t-shirt from the table center to the lower right edge of the table", "scene_description": "A white table holds a small wooden coat hanger stand, two tape rolls (beige and gray), a pink t-shirt, a blue plastic clip, two orange round objects, a black game controller, assorted small colorful toys, and a white robotic arm at the right edge of the table. Electrical switches and a socket are mounted on the white wall behind the table.", "global_instruction_dense": "The right robotic arm moves toward the pink t-shirt on the center of the white table, grasps the t-shirt with its gripper, drags it to the lower right edge of the table, releases the t-shirt, then moves back away from the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 177, "tasks": ["place clothing"], "length": 183, "global_instruction": "Adjust the position of the pink t-shirt on the white tabletop.", "scene_description": "A white tabletop holds a small wooden coat rack, two rolls of tape (beige and gray) to the left of the rack, a pink t-shirt on the lower right of the table, a static white Kinova robotic arm near the back right, small toy fruits, game controllers, and small red objects near the back arm; the left white wall has electrical outlet panels and wiring boxes.", "global_instruction_dense": "The right robotic arm moves toward the pink t-shirt on the lower right of the white table, grasps the t-shirt, shifts its position on the table, then releases the t-shirt and moves back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 178, "tasks": ["place clothing"], "length": 305, "global_instruction": "Reposition the pink t-shirt on the white tabletop", "scene_description": "A white table is against a white wall with electrical outlets on the left. On the table, a light brown tree-shaped wooden stand is near the wall, two tape rolls (one grey, one off-white) are to its left, a folded pink t-shirt is to its right, small items including an orange cup, black gamepads, tangled cables and colorful toys are at the table's back, and two robotic arms are at the table's right side.", "global_instruction_dense": "The right robotic gripper moves toward the folded pink t-shirt on the white table, grasps it, lifts and shifts it to adjust its position on the table surface, then releases the t-shirt.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 179, "tasks": ["place clothing"], "length": 451, "global_instruction": "Grasp the sleeve of the red t-shirt and drape it over the beige utensil tray on the table.", "scene_description": "A gray table holds a white bowl with purple, green, and yellow balls, a red t-shirt, a beige tray with utensils, a clear plastic cup, a small white paper, and a small blue-white box. Two blue chairs are beside the table, a robotic arm is at the upper right, and gray storage cabinets are in the background.", "global_instruction_dense": "The right robotic gripper moves down toward the red t-shirt on the gray table, grasps one of its sleeves, pulls the sleeve toward the beige utensil tray, drapes the sleeve over the edge of the tray, then releases the sleeve and moves upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 180, "tasks": ["place clothing"], "length": 163, "global_instruction": "Pick up the dark blue STAFF shirt from the orange chair seat and drape it over the chair back", "scene_description": "A dark blue shirt printed with 'STAFF' rests on the seat of an orange mesh office chair. Two blue trash bins are placed next to a left window, a white countertop with a sink, green cup, bottle, and fruit basket is in the background, and a robotic arm is positioned at the upper right.", "global_instruction_dense": "The right robotic arm moves downward toward the dark blue STAFF shirt on the orange office chair seat, grasps the shirt with its gripper, lifts it upward, and drapes it over the top of the chair's backrest.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 181, "tasks": ["place clothing"], "length": 242, "global_instruction": "Move the coral pink t-shirt from the black tray onto the white tabletop.", "scene_description": "A white table holds a light blue mini appliance left of center, a beige dish with a red toy apple at the left, a row of small cookware (blue kettle, two blue pots, black pot) at the back, a coral pink t-shirt draped over a black tray to the right of the blue appliance, and a toy hamburger on a small blue plate at the far right.", "global_instruction_dense": "The right robotic arm approaches the coral pink t-shirt resting on the black tray, grasps its lower edge, pulls part of the t-shirt onto the table, regrasps the remaining portion of the t-shirt on the tray, pulls it fully onto the table, then releases the t-shirt and moves away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 182, "tasks": ["place clothing"], "length": 268, "global_instruction": "Pick up the pink t-shirt from the chair seat and drape it over the chair's backrest.", "scene_description": "A black office chair with a pink t-shirt on its seat is in a lab workspace, with a work counter, blue trash bin, filing cabinets, and loose cables in the background, and a robotic arm is positioned to the right of the chair.", "global_instruction_dense": "The right robotic arm moves toward the pink t-shirt on the black office chair seat, grasps the t-shirt with its gripper, lifts the t-shirt, drapes it over the chair's backrest, then releases the t-shirt and moves upward away from the chair.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 183, "tasks": ["place clothing"], "length": 192, "global_instruction": "Pick up the coral pink shirt from the office chair back and place it on the chair seat.", "scene_description": "A black office chair is in the foreground, with a coral pink shirt draped over its backrest and a black backpack on its seat. A robotic manipulator is positioned to the right of the chair, and the background includes a lab counter with a sink, various containers, a blue trash bin, and office equipment with loose cables on the left floor.", "global_instruction_dense": "The right robotic arm moves toward the coral pink shirt draped over the office chair back, grasps the shirt, lifts it upward, releases it to drop onto the chair seat, then moves upward away from the chair.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 184, "tasks": ["place clothing"], "length": 149, "global_instruction": "Pick up the pink garment from the office chair and place it on the top of the chair backrest.", "scene_description": "A black office chair with a bright pink garment draped over its back is in the center of a robotics lab. A robotic arm is positioned to the right of the chair, with a countertop, blue trash bin, storage cabinets, and loose wires visible in the background.", "global_instruction_dense": "The right robotic gripper moves toward the pink garment on the chair, grasps it, lifts it upward, moves it over the top of the chair back, releases the garment, then returns to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 185, "tasks": ["place clothing"], "length": 182, "global_instruction": "Grasp the pink garment from the office chair back and place it on the chair's front armrest.", "scene_description": "A black mesh office chair with a pink garment draped over its back sits in a lab workspace, with a counter, sink, blue trash bin, and small appliances against the rear wall, loose cables lie on the floor to the left of the chair.", "global_instruction_dense": "Right robotic arm moves down from the upper frame, grasps the pink garment on the office chair back, lifts and moves the garment over the chair's armrest, releases the garment, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 186, "tasks": ["place clothing"], "length": 176, "global_instruction": "Pick up the pink garment from the chair armrest and place it on the chair backrest.", "scene_description": "A black mesh office chair sits in a lab workspace, a pink garment rests on the chair's right armrest, a white robotic arm is positioned above the chair, with a sink counter, storage cabinets, and lab equipment visible in the background.", "global_instruction_dense": "The right robotic arm lowers toward the pink garment on the chair's armrest, grasps the garment, lifts it upward, moves it to above the chair's backrest, releases the garment onto the backrest, then retracts upward away from the chair.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 187, "tasks": ["place clothing"], "length": 154, "global_instruction": "Pick up the pink garment from the chair armrest and drape it over the chair back", "scene_description": "In a laboratory workspace, a black mesh office chair is at the center with a pink garment resting on its right armrest. Background includes a sink counter with supplies, small refrigerators, scattered floor cables, and a robotic arm base at the right edge.", "global_instruction_dense": "The right robotic arm moves downward toward the pink garment on the chair's right armrest, grasps the garment, lifts it upward to the top of the chair back, releases the garment to drape it over the chair back, then retracts upward away from the chair.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 188, "tasks": ["place clothing"], "length": 151, "global_instruction": "Pick the pink shirt from the chair back and place it on the chair seat.", "scene_description": "A black mesh office chair is at the center with a pink shirt draped over its back. A robotic arm is positioned to the right of the chair, and the background has a lab counter, sink, cabinets, small fridge, loose cables, and a backpack on the floor.", "global_instruction_dense": "The right robotic arm moves down toward the pink shirt on the chair back, grasps it, lifts and moves it over the chair seat, releases it onto the seat, then moves upward away from the chair.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 189, "tasks": ["place clothing"], "length": 304, "global_instruction": "Pick up the brown sweater from the white table and place it on the adjacent purple chair.", "scene_description": "A brown knitted sweater rests on the right edge of a white table, a white robotic arm is positioned to the right of the table, a purple chair sits in front of the table, and the background has red chairs, a gray sofa, colored small stools, a standing TV, and large windows overlooking buildings.", "global_instruction_dense": "The right robotic arm moves toward the brown sweater on the white table, grasps it, lifts it, moves it over the adjacent purple chair, lowers it, and releases it onto the chair.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 190, "tasks": ["place clothing"], "length": 228, "global_instruction": "Pick up the brown sweater from the chair and place it onto the white table.", "scene_description": "In an office lounge, a white table is in the foreground, four red chairs are by the left floor-to-ceiling windows, a gray sofa and white coffee table are at the back, three round stools (pink, dark red, maroon) are in the center, a brown sweater drapes over a purple chair near the right robotic arm, and a large display screen stands by the right windows.", "global_instruction_dense": "The right robotic arm moves toward the brown sweater resting on the purple chair, grasps it, lifts it up, moves it over the foreground white table, lowers it, releases it onto the table, then retracts its arm.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 191, "tasks": ["place clothing"], "length": 760, "global_instruction": "Hang the blue denim jacket on the back of the black office chair behind the white table.", "scene_description": "A blue denim jacket with light beige fleece lining is laid flat on a white round table, a white robotic manipulator is positioned to the right of the table, and an office workspace with desks, monitors, office chairs, and storage boxes is visible in the background.", "global_instruction_dense": "The right robotic gripper moves toward the blue denim jacket laid on the white round table, grasps the jacket, adjusts its grip to hold the jacket's light beige fleece lining edge, lifts the jacket off the table, moves it toward the back of the black office chair behind the table, drapes the jacket over the chair back, adjusts it to hang properly, then releases the jacket and moves away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 192, "tasks": ["place clothing"], "length": 605, "global_instruction": "Place the light blue denim jacket from the white table onto the adjacent black office chair.", "scene_description": "A light blue denim jacket with cream fleece lining rests on a white round office table, a black rolling office chair sits adjacent to the table, and office desks with monitors, boxes, and other chairs are visible in the background, with a robotic arm positioned at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the light blue denim jacket on the white round table, grasps its cream fleece-lined collar, lifts the jacket, moves it over the adjacent black office chair, lowers and releases it onto the chair back, adjusts the jacket's position on the chair, then lifts away from the jacket.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 193, "tasks": ["place clothing"], "length": 1276, "global_instruction": "Pick the blue denim jacket from the office chair back and place it onto the white round table.", "scene_description": "A black office chair with a blue denim jacket draped over its back is positioned next to a white round table, with office workstations holding monitors and equipment in the background, and a robotic arm on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves toward the blue denim jacket on the black office chair back, grasps the jacket with its gripper, lifts it, moves it over the adjacent white round table, lowers the jacket onto the table surface, adjusts its placement, then releases the jacket and moves away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 194, "tasks": ["place clothing"], "length": 789, "global_instruction": "Pick up the denim jacket from the table and hang it on the back of the adjacent black office chair.", "scene_description": "A denim jacket with light beige fleece lining lies on a white round table. A black office chair is positioned next to the table, and the background is an open office with desks, computers, and storage items.", "global_instruction_dense": "The right robotic arm moves toward the denim jacket on the white table, grasps and lifts the jacket, moves it to the back of the nearby black office chair, drapes and adjusts the jacket to hang on the chair back, then releases the jacket and retracts.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 195, "tasks": ["place clothing"], "length": 465, "global_instruction": "Pick up the fleece-lined denim jacket from the table and drape it over the back of the adjacent black office chair.", "scene_description": "A fleece-lined blue denim jacket rests on a white round table, with a black office chair adjacent to the table's right side, a white robotic arm on the right edge of the frame, and an office workspace with desks, monitors, boxes, and filing cabinets in the background.", "global_instruction_dense": "The right robotic arm moves toward the fleece-lined denim jacket on the white table, grasps its edge, lifts the jacket, moves it to the back of the adjacent black office chair, drapes the jacket over the chair back, releases the gripper, then regrasps the jacket to adjust its position before releasing and moving away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 196, "tasks": ["place clothing"], "length": 808, "global_instruction": "Place the light green jacket from the table over the back of the black office chair.", "scene_description": "A light green jacket with blue denim trim is draped over the edge of a white round table next to a black office chair, a white robotic arm is on the right, and an open office with desks, monitors, and filing cabinets is in the background.", "global_instruction_dense": "The right robotic arm moves toward the light green jacket on the table edge, grasps it, lifts it, moves it over the back of the adjacent black office chair, arranges it to drape properly over the chair back, then releases the jacket and moves away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 197, "tasks": ["place clothing"], "length": 588, "global_instruction": "Pick up the fleece-lined denim jacket and hang it on the back of the black office chair.", "scene_description": "A blue denim jacket with light green fleece lining rests on a white round table, a black office chair is behind the table, and office desks with monitors and boxes are in the background.", "global_instruction_dense": "The right robotic arm lowers toward the jacket on the table, grasps its fleece lining, lifts the jacket, moves it to the back of the black chair, drapes it over the chair back, releases the jacket, then moves away from the chair.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 198, "tasks": ["place clothing"], "length": 391, "global_instruction": "Take the plaid shirt from the coat rack and place it into the gray storage bin.", "scene_description": "A gray open storage bin sits on grey office carpet, a coat rack with multiple hanging garments including a plaid shirt and dark coats is behind the bin, a white desk with office supplies is to the left of the rack, a wooden door is in the left background, and a white robotic arm is in the upper right frame.", "global_instruction_dense": "The right robotic arm moves toward the plaid shirt hanging on the coat rack, grasps it, lifts it from the rack, moves it over the gray storage bin, lowers it, and releases it into the bin.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 199, "tasks": ["place clothing"], "length": 520, "global_instruction": "Place the black jacket from the coat rack into the grey plastic bin.", "scene_description": "A grey plastic bin holding a folded plaid shirt sits on a carpeted office floor in front of a coat rack with hanging dark jackets; a white robotic arm is positioned to the bin's right, with office desks and a wooden door in the background.", "global_instruction_dense": "The right robotic arm moves toward the black jacket hanging on the coat rack, grasps the jacket, pulls it off the hanger, moves it over the grey bin, lowers it into the bin, releases it, then moves back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 200, "tasks": ["place clothing"], "length": 510, "global_instruction": "Take the plaid shirt from the coat rack and place it into the gray trash bin.", "scene_description": "A dark metal coat rack holds two black jackets and a red-white-blue plaid shirt. A gray trash bin sits below the shirt to the right, a white robotic arm is on the right side of the office, a wooden door is on the left, and a white desk with a keyboard is next to the door.", "global_instruction_dense": "The right robotic arm moves toward the plaid shirt hanging on the coat rack, grasps its collar, lifts the shirt off the rack, moves it over the gray trash bin, releases the shirt into the bin, then moves away from the bin.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 201, "tasks": ["place clothing"], "length": 901, "global_instruction": "Pick a black jacket from the lower coat rack, hang it on an upper empty hook, then drop it into the grey bin below the rack.", "scene_description": "A metal coat rack holding three jackets (two black, one dark green) stands in an office. A white robotic arm is positioned to the right of the rack, a grey plastic bin sits below the rack, a wooden door is on the left, and office desks are in the background.", "global_instruction_dense": "The right robotic arm moves toward the rightmost black jacket on the lower section of the coat rack, grasps it, lifts it to hang on an empty upper hook of the rack, then re-grasps the jacket, lifts it off the upper hook, moves it over the grey bin beneath the rack, releases it to fall into the bin, and finally moves back to its initial right-side position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 202, "tasks": ["place clothing"], "length": 639, "global_instruction": "Place the draped black garment into the gray bin.", "scene_description": "A coat rack with hanging black and green coats is in the foreground, a black garment is draped on a surface below the rack, a gray bin sits to the right of the garment, a white robotic arm is positioned to the right of the bin, and office desks with supplies are in the background next to a wooden door on the left.", "global_instruction_dense": "The right robotic arm moves toward the black garment draped below the coat rack, grasps it with its gripper, lifts and moves it over the gray bin, releases the garment into the bin, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 203, "tasks": ["place clothing"], "length": 305, "global_instruction": "Hang the black garment onto another empty hook of the coat rack", "scene_description": "A brown coat rack holds a black garment and a green garment. A white robotic arm is on the right, a wooden door is on the left, a white desk with a keyboard is in the left foreground, and work tables line the background of the carpeted office lab.", "global_instruction_dense": "The right robotic arm moves toward the black garment on the coat rack, grasps it, lifts it off its original hook, moves it to an adjacent empty hook, hangs it on the new hook, releases its grip, and retracts away from the coat rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 204, "tasks": ["place clothing"], "length": 1037, "global_instruction": "Remove the green shirt from the coat rack and place it into the grey plastic bin.", "scene_description": "A dark green shirt hangs on a dark metal coat rack, with a grey plastic bin positioned below the coat rack. A white robotic arm is on the right side, and office desks, a wooden door, and grey walls are in the background.", "global_instruction_dense": "The right robotic arm moves toward the dark green shirt hanging on the coat rack, grasps the shirt to lift it off the hook, moves it over the grey plastic bin and releases it onto the bin edge, then re-grasps the shirt, lifts it, drops it fully into the bin, and moves back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 205, "tasks": ["place clothing"], "length": 803, "global_instruction": "Place the black garment on the gray bin's edge into the bin and close the bin lid.", "scene_description": "A metal coat rack holding black and green hanging garments stands in an office, an open gray storage bin sits in front of the coat rack with a black garment resting on its edge, a white robotic arm is positioned to the right of the bin, a wooden door is on the left, and office desks are visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the black garment resting on the edge of the open gray storage bin, grasps the garment, lifts it, places and adjusts it inside the bin, then closes the bin's lid and moves back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 206, "tasks": ["place clothing"], "length": 244, "global_instruction": "Pick the plaid shirt off the coat rack and place it into the gray trash bin.", "scene_description": "A metal coat rack in the foreground has a black coat and a red-white-blue plaid shirt hanging on it, a gray trash bin sits below the shirt, in an office with a wooden door on the left, desks in the background, and a white robotic arm on the right.", "global_instruction_dense": "The right robotic arm moves toward the plaid shirt hanging on the coat rack, grasps it, pulls it off the rack, moves it over the gray trash bin, releases the shirt to drop it into the bin, then retracts away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 207, "tasks": ["place clothing"], "length": 404, "global_instruction": "Place the plaid shirt resting on the edge of the grey bin fully inside the bin.", "scene_description": "An office space has a metal coat rack holding a black coat, a grey plastic bin next to the rack with a plaid shirt on its edge, a white robotic arm to the right of the bin, and office desks with equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the plaid shirt on the edge of the grey bin, grasps the shirt, pushes it fully into the bin, adjusts to confirm the shirt is inside, then retracts back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 208, "tasks": ["place clothing"], "length": 567, "global_instruction": "Place the black jacket from the coat rack into the gray plastic bin.", "scene_description": "A metallic coat rack with a black jacket hanging on it is in the foreground, a gray plastic bin is behind the coat rack, a wooden door is to the left, and a robotic arm is on the right side of the office with desks and office supplies in the background.", "global_instruction_dense": "The right robotic arm moves toward the black jacket on the coat rack, grasps it with its gripper, lifts the jacket off the rack, moves it over the gray bin, releases it to drop into the bin, then moves back to its resting position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 209, "tasks": ["place clothing"], "length": 743, "global_instruction": "Place the black jacket draped over the gray plastic bin into the bin.", "scene_description": "In an office, a tall dark metal coat rack stands in the foreground, a gray plastic bin with a black jacket draped over its edge is to the right of the rack, a white robotic arm is to the right of the bin, and a wooden door and office desks are in the background.", "global_instruction_dense": "The right robotic arm moves toward the black jacket draped over the edge of the gray bin, repeatedly grasps sections of the jacket, lifts each section and drops it into the bin until the jacket is fully inside, then moves back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 210, "tasks": ["place clothing"], "length": 172, "global_instruction": "Pick up the white power socket from the wire rack and place it among the items on the left section of the rack.", "scene_description": "A silver wire rack holds various items including a white power socket, blue gear-shaped object, teal cables, a brown branded box on the left, and an open brown cardboard box on the right.", "global_instruction_dense": "The right robotic arm moves toward the white power socket on the right section of the wire rack, grasps it with its gripper, lifts it, moves it leftward over the left section of the rack with other small items, lowers it, and releases it onto the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 211, "tasks": ["place clothing"], "length": 188, "global_instruction": "Pick up the white mask from the table and hang it on the black table-mounted clamp.", "scene_description": "A white circular table holds a white mask with blue edge stripes. A black clamp stand is attached to the table's right edge, and a robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the white mask on the round table, grasps and lifts the mask, moves it over to the black clamp attached to the table's right edge, and releases the mask to hang it on the clamp.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 212, "tasks": ["place clothing"], "length": 171, "global_instruction": "Remove the mask from the clamp and place it onto the white round table.", "scene_description": "A white round table is in the center, a white face mask with light blue trim is clamped to a black vertical stand on the right of the table, a yellow emergency stop button is on the robot platform at the bottom left, and a glass door is visible in the background.", "global_instruction_dense": "The left robotic arm moves toward the mask clamped to the black stand, grasps the mask, pulls it free from the clamp, moves it over the white table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 213, "tasks": ["place clothing"], "length": 165, "global_instruction": "Pick up the white mask with blue stripes from the clamp and place it on the white round table.", "scene_description": "A white round table is in a lab room, a white mask with two blue stripes is held by a black clamp mounted on the right edge of the table.", "global_instruction_dense": "The right robotic gripper moves toward the white mask with blue stripes held in the black clamp, grasps it, lifts it out of the clamp, moves it over the white table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 214, "tasks": ["place clothing"], "length": 213, "global_instruction": "Pick up the black garment from the table and place it on the black stand's holder.", "scene_description": "A white round table holds a folded black garment, a white cloth with blue stripes, and a black mounting stand fixed to its right edge.", "global_instruction_dense": "The left robotic arm moves toward the black garment on the left side of the round table, grasps it with its gripper, lifts it, moves it right to the black stand on the table's edge, and places the garment on the stand's holder.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 215, "tasks": ["place clothing"], "length": 159, "global_instruction": "Place the folded black shirt from the stand onto the table next to the white striped sock.", "scene_description": "A white circular table holds a white sock with light blue stripes on its left side, and a folded black shirt resting on a black stand on its right side; a workbench with an orange emergency stop button is in the lower foreground.", "global_instruction_dense": "The right robotic gripper moves toward the folded black shirt on the right stand, grasps it, lifts and moves it left over the table, then lowers and releases it next to the white striped sock.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 216, "tasks": ["place clothing"], "length": 270, "global_instruction": "Pick up the black printed T-shirt on the table and reposition it on the table surface.", "scene_description": "A white round table holds a black T-shirt with white prints and a white cloth with light blue stripes. A black stand is fixed to the right edge of the table, and a robotic platform with an orange emergency stop button is in the lower foreground.", "global_instruction_dense": "The left robotic arm moves downward toward the black printed T-shirt on the white table, grasps it with its gripper, lifts and shifts it slightly to the right, then lowers and releases it onto the table before moving away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 217, "tasks": ["place clothing"], "length": 134, "global_instruction": "Pick up the black garment on the white striped cloth and place it on the empty area of the white table.", "scene_description": "A white round table holds a black garment on top of a white cloth with light blue stripes, with robotic control equipment in the foreground and a glass door in the background.", "global_instruction_dense": "The left robotic gripper moves down toward the black garment resting on the white striped cloth, grasps and lifts the garment, moves it left over the empty area of the white round table, then lowers and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 218, "tasks": ["place clothing"], "length": 173, "global_instruction": "Place the black garment onto the white cloth with light blue stripes.", "scene_description": "A black garment and a white cloth with light blue stripes are placed on a white round table, with the white cloth positioned to the left of the black garment.", "global_instruction_dense": "The right robotic gripper moves down toward the black garment on the white table, grasps it, lifts it, moves it leftward over the white cloth, then releases it to drop onto the white cloth.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 219, "tasks": ["place clothing"], "length": 143, "global_instruction": "Place the black garment on top of the white garment on the table", "scene_description": "A white round table holds a crumpled black garment and a crumpled white garment, with the black garment positioned to the right of the white garment. A yellow emergency stop button is visible in the lower foreground.", "global_instruction_dense": "The left robotic gripper grasps the black garment on the right side of the table, lifts it, moves it leftward over the white garment, then lowers and releases it onto the white garment.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 220, "tasks": ["place clothing"], "length": 158, "global_instruction": "Move the folded black garment on the white table to the position next to the white striped cloth.", "scene_description": "A white round table holds a folded black garment and a white cloth with blue stripes; a robotic work station with an orange emergency stop button is in the foreground.", "global_instruction_dense": "The right robotic gripper moves toward the folded black garment on the white table, grasps and lifts it, moves it leftward across the table, then lowers and releases it to rest next to the white cloth with blue stripes.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 221, "tasks": ["place clothing"], "length": 146, "global_instruction": "Move the black garment from on top of the white garment to an empty spot on the white table.", "scene_description": "A white round table holds a folded black garment stacked on a folded white garment with light blue stripes. Robotic control equipment is in the foreground, and a glass door is in the background.", "global_instruction_dense": "The right robotic gripper descends to grasp the black garment stacked on the white striped garment, lifts it, moves it to an empty area of the white round table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 222, "tasks": ["place clothing"], "length": 179, "global_instruction": "Pick up the black garment from the white cloth bag and place it on the white table.", "scene_description": "A white round table holds a white cloth bag with a black garment draped over it; a robotic platform with an orange emergency stop button is in the foreground.", "global_instruction_dense": "The left robotic gripper moves toward the black garment draped over the white cloth bag, grasps it, lifts it, moves it to the empty left area of the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 223, "tasks": ["place clothing"], "length": 504, "global_instruction": "Hang the socks on the white table onto the attached black stand.", "scene_description": "A white round table holds two socks: one white with blue stripes, one black. A black mounting stand is attached to the right edge of the table, and a robotic manipulator is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm grasps the white sock with blue stripes from the table, hangs it on the black stand, removes the white sock from the stand and places it back on the table, then grasps the black sock from the table and hangs it on the black stand.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 224, "tasks": ["place clothing"], "length": 107, "global_instruction": "Pick up the black garment on the right side of the white table and place it on the left side of the table.", "scene_description": "A white round table has a black garment on its right side next to a black vertical stand, and a white cloth with a blue tag on its left side. A robotic platform with an orange emergency stop button is in the foreground, with a glass door in the background.", "global_instruction_dense": "The left robotic gripper moves toward the black garment on the right side of the white table, grasps it, lifts it, moves it leftward over the left side of the table, then releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 225, "tasks": ["place clothing"], "length": 283, "global_instruction": "Pick up the white face mask from the round table and place it on the back of the adjacent office chair.", "scene_description": "A white face mask rests on a white round side table, next to a gray and black office chair with a black garment draped over its backrest. A robotic workbench with a yellow emergency stop button and orange-handled clamps is in the foreground, with a silver-handled door in the left background.", "global_instruction_dense": "The left robotic gripper moves toward the white face mask on the round table, grasps the mask, lifts it, moves it to the back of the nearby office chair, places it on top of the black clothing on the chair back, then releases the mask and withdraws.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 226, "tasks": ["place clothing"], "length": 411, "global_instruction": "Place the two shirts hanging on the office chair onto the white round table, then return the white striped shirt to the chair back.", "scene_description": "A white round table, a grey mesh office chair with a white striped shirt and a black shirt draped over its back, and a robotic arm system with an orange emergency stop button are in a lab space, with a door in the background.", "global_instruction_dense": "The left robotic arm first grasps the white striped shirt from the office chair back, moves it to place it on the white round table, then grasps the black shirt from the chair back, moves it to place it on the table, then grasps the white striped shirt from the table, and places it back onto the chair back.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 227, "tasks": ["place clothing"], "length": 173, "global_instruction": "Place the black jacket from the office chair back onto the white round table", "scene_description": "A white round table is next to a gray-and-black office chair with a black jacket draped over its back, a robotic workbench with an orange emergency stop button is in the foreground, and a white door is in the background.", "global_instruction_dense": "The left robotic arm grasps the black jacket on the office chair back, lifts it off the chair, moves it over the adjacent white round table, and releases it to rest on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 228, "tasks": ["place clothing"], "length": 126, "global_instruction": "Pick up the white socks with blue stripes from the chair back and place them onto the white round table.", "scene_description": "A white round table with a grey base sits next to a grey office chair with black seat and armrests, a pair of white socks with blue stripes is draped over the chair back, a black robotic workbench with an orange emergency stop button on a yellow mount is in the lower foreground, and a white door with a silver handle is in the left background.", "global_instruction_dense": "The right robotic gripper reaches toward the white socks with blue stripes draped over the office chair back, grasps the socks, moves them over the adjacent white round table, and releases them to land on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 229, "tasks": ["place clothing"], "length": 126, "global_instruction": "Place the black garment from the office chair back onto the white round table", "scene_description": "A white round table holding white socks with blue stripes and a white cloth sits beside a grey office chair with a black garment draped on its back, with robotic equipment in the foreground.", "global_instruction_dense": "The right robotic arm grasps the black garment on the office chair back, moves it over the white round table, and releases it onto the table next to the socks and cloth.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 230, "tasks": ["place clothing"], "length": 623, "global_instruction": "Pick up the striped socks and black clothing from the table, hang them on the chair back, then place the socks back on the table.", "scene_description": "A white round side table sits next to a gray office chair, with white blue-striped socks and black clothing on the table, and a left robotic arm and robot work platform in the foreground.", "global_instruction_dense": "The left robotic arm first grasps the white striped socks from the table, hangs them on the gray office chair back, then grasps the black clothing from the table and hangs it on the chair back, then re-grasps the socks from the chair back and places them onto the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 231, "tasks": ["place clothing"], "length": 112, "global_instruction": "Place the black jacket from the chair back onto the white round table.", "scene_description": "A white round table holds a white bag with blue accents. A grey office chair sits to the right of the table, with a black jacket draped over its back. Robotic equipment is visible in the lower left foreground.", "global_instruction_dense": "The left robotic arm grasps the black jacket draped over the office chair back, lifts it, moves it over the white round table, and releases it onto the table surface next to the white bag.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 232, "tasks": ["place clothing"], "length": 149, "global_instruction": "Pick the black garment from the chair back and place it on the white round table.", "scene_description": "A black garment is draped over the back of a grey office chair next to a white round side table, a robotic work platform with a yellow-orange emergency stop button sits in the foreground, and a door is in the left background.", "global_instruction_dense": "The left robotic arm moves toward the black garment on the grey chair back, grasps it, lifts it, moves it over the adjacent white round table, and releases it to drop onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 233, "tasks": ["place clothing"], "length": 163, "global_instruction": "Pick up the white garment from the table and place it on the back of the grey office chair", "scene_description": "A white round side table holds a black garment and a white garment, next to a grey office chair on the right, with a robotic work platform with an orange emergency stop button on the left, and a door in the background.", "global_instruction_dense": "The left robotic arm moves toward the white garment on the round table, grasps it with its gripper, lifts it, moves it right toward the grey office chair, and releases it to drape over the chair's backrest.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 234, "tasks": ["place clothing"], "length": 297, "global_instruction": "Pick up the black printed t-shirt from the table and place it on the adjacent gray chair", "scene_description": "A black printed t-shirt and a folded white cloth rest on a white round table. A robotic arm is positioned to the left of the table, a gray chair is to the right of the table, and a person sits at a desk in the background.", "global_instruction_dense": "The left robotic arm moves toward the black t-shirt on the table, grasps it, lifts it off the table, moves it rightward to the gray chair, lowers and releases it onto the chair, then retracts back upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 235, "tasks": ["place clothing"], "length": 209, "global_instruction": "Pick up the black printed t-shirt from the white table and place it on the adjacent grey mesh chair.", "scene_description": "A white round table holds a folded white cloth and a black printed t-shirt; a robotic arm is positioned to the left of the table, a grey mesh chair is to the right of the table, and a person works at a desk in the background.", "global_instruction_dense": "The left robotic arm moves toward the black printed t-shirt on the white round table, grasps the t-shirt with its gripper, lifts and carries the t-shirt rightward over the adjacent grey mesh chair, releases the t-shirt to place it on the chair, then retracts upward to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 236, "tasks": ["place clothing"], "length": 256, "global_instruction": "Place the black garment from the right chair edge onto the white table next to the striped white cloth.", "scene_description": "A white round table holds a white cloth with red stripes at its center. A black garment is draped over the right edge of the table on a gray mesh chair, a robotic arm base with green indicator lights is on the left of the table, and a person works at a desk with a monitor and boxes in the background.", "global_instruction_dense": "The right robotic gripper moves to grasp the black garment on the right chair edge, lifts it, moves it over the white round table, places it next to the white striped cloth, then releases the garment and lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 237, "tasks": ["place clothing"], "length": 159, "global_instruction": "Pick up the black t-shirt from the round table and place it on the gray mesh chair.", "scene_description": "A white round table holds a folded white cloth with red patterns and a folded black t-shirt. A robotic arm is to the left of the table, a gray mesh chair is to the right of the table, and a work desk with electronics and office supplies is in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the black t-shirt on the white round table, grasps the t-shirt, lifts it, moves it rightward over the gray mesh chair, releases it onto the chair, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 238, "tasks": ["place clothing"], "length": 190, "global_instruction": "Pick up the black garment from the chair back and place it on the white round table", "scene_description": "A white round table holding a folded white cloth with red markings is at the center. A black garment is draped over the back of a gray mesh chair to the table's right. A robotic arm is positioned above, with a desk holding monitors, a white mug, and boxes in the background, and a poster on the far wall.", "global_instruction_dense": "The right robotic gripper moves toward the black garment draped over the gray chair back, grasps it, lifts it, moves it over the white round table, and releases it onto the table next to the folded white cloth.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 239, "tasks": ["place clothing"], "length": 141, "global_instruction": "Pick up the black T-shirt from the office chair back and place it on the white round table.", "scene_description": "A white round table is in the foreground, a black T-shirt is draped over the back of a gray mesh office chair to the right of the table, a robotic arm is positioned above the scene, and a person works at a desk with a monitor, white mug and brown boxes in the background.", "global_instruction_dense": "The left robotic gripper moves toward the black T-shirt on the gray chair back, grasps the T-shirt, lifts it, moves it over the white round table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 240, "tasks": ["place clothing"], "length": 231, "global_instruction": "Move the black t-shirt from the grey office chair onto the white round table", "scene_description": "A black t-shirt is draped over the back of a grey mesh office chair to the right of a white round table; a person works at a background desk with a monitor, mug, and boxes, with a robotic base with green lights on the left and a robotic gripper above the scene.", "global_instruction_dense": "The left robotic gripper moves downward toward the black t-shirt on the office chair, grasps it, lifts it, moves it over the white round table, lowers and releases it onto the table, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 241, "tasks": ["place clothing"], "length": 141, "global_instruction": "Pick the black hoodie from the gray office chair and place it on the white round table.", "scene_description": "A white round table with a folded cloth sits in the center. A gray mesh office chair with a black hoodie on its back is to the table's right. A Franka robotic arm is left of the table, and a background desk has a working person, white mug, monitors, and small packages.", "global_instruction_dense": "The right robotic gripper moves toward the black hoodie on the gray office chair back, grasps the hoodie, lifts it, moves it over the white round table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 242, "tasks": ["place clothing"], "length": 393, "global_instruction": "Crumple the folded striped white cloth on the table, then place the black jacket from the adjacent chair onto the table.", "scene_description": "A folded white cloth with red stripes rests on a white round table. A black jacket is draped over the back of a gray office chair to the right of the table, and a Franka robotic arm is positioned at the left side of the table, with a person working at a desk in the background.", "global_instruction_dense": "The left robotic arm lowers to the folded white cloth with red stripes on the round table, crumples the cloth, then moves right to grasp the black jacket on the gray chair back, lifts the jacket, moves it over the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 243, "tasks": ["place clothing"], "length": 245, "global_instruction": "Pick up the black garment from the gray chair and place it onto the white round table", "scene_description": "A white round table with two red-striped white cloths is at the center. A black garment with white patterns is draped over a gray chair to the table's right. A Franka Emika robotic arm with green lights is on the table's left, with a person working at a desk with a monitor, laptop, and mug in the background.", "global_instruction_dense": "The right robotic arm moves toward the black garment on the gray chair back, grasps it with its gripper, lifts the garment, moves it over the white round table, lowers it, releases it onto the table, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 244, "tasks": ["place clothing"], "length": 210, "global_instruction": "Pick up the black jacket from the chair back and place it on the white round table", "scene_description": "A white round table holds a white cloth with red stripes and a small green bottle. A black jacket is draped over the back of a gray chair to the right of the table, a robotic arm is positioned to the left of the table, and a person works at a background office desk with office supplies.", "global_instruction_dense": "The right robotic arm moves toward the black jacket on the gray chair back, grasps the jacket, lifts it, moves it over the white round table, releases it onto the table surface, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 245, "tasks": ["place clothing"], "length": 170, "global_instruction": "Pick the black t-shirt from the gray chair and place it on the white round table", "scene_description": "A white round table holds a white packet with red stripes. A gray office chair to the table's right has a black printed t-shirt draped on its back, a robotic base is on the left of the table, and a workspace with a person at a desk is in the background.", "global_instruction_dense": "The right robotic arm moves toward the black t-shirt on the back of the gray chair, grasps the t-shirt, lifts it, moves it over the white round table, then releases the t-shirt to drop it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 246, "tasks": ["place clothing"], "length": 158, "global_instruction": "Pick the black garment from the chair back and place it on the white round table.", "scene_description": "A white round table holds a white cloth with two red stripes. A black garment is draped over the back of a grey mesh chair to the right of the table, a Franka Emika robotic base with green indicator lights is on the left, and a robotic arm is positioned above the table. A person works at an office desk in the background.", "global_instruction_dense": "The left robotic arm moves right to grasp the black garment from the chair back, lifts it, moves it over the white round table, and releases it onto the left portion of the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 247, "tasks": ["place clothing"], "length": 217, "global_instruction": "Pick up the black t-shirt from the round table and place it on the gray chair back.", "scene_description": "A black t-shirt lies on a white round table, a gray chair with a white towel on its back sits to the table's right, a Franka robotic arm is positioned at the left, and a person works at a background desk with a monitor, white mug, and brown boxes.", "global_instruction_dense": "The left robotic arm moves down toward the black t-shirt on the white round table, grasps it, lifts it, moves right toward the gray chair, releases the t-shirt onto the chair back next to the white towel, then moves upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 248, "tasks": ["place clothing"], "length": 208, "global_instruction": "Pick the black jacket from the chair and place it on the white round table.", "scene_description": "A white round table holds a white cloth with red stripes. A black jacket is draped over a grey mesh chair to the right of the table, a robotic gripper is at the upper right of the view, a person works at a desk in the background, and a Franka Emika robot base is on the left.", "global_instruction_dense": "The right robotic gripper moves toward the black jacket on the grey chair, grasps it, lifts it, moves it over the white round table, lowers it, and releases it onto the table next to the striped cloth.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 249, "tasks": ["place clothing"], "length": 185, "global_instruction": "Pick up the black t-shirt from the white table and place it over the grey mesh chair", "scene_description": "A black t-shirt rests flat on a white round table. A robotic arm is positioned to the left of the table, a grey mesh chair stands to the table's right, and a person works at a desk in the background.", "global_instruction_dense": "The left robotic arm moves toward the black t-shirt on the white table, grasps the t-shirt, lifts and moves it right toward the adjacent grey mesh chair, then releases the t-shirt to drape it over the chair's back before retracting.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 250, "tasks": ["place clothing"], "length": 198, "global_instruction": "Pick the black jacket from the chair back and place it on the white round table.", "scene_description": "A white round table holds a pack of white tissues. A black jacket is draped over the back of a grey mesh chair at the right side of the table. A robotic arm is positioned above the table, a person sits at a work desk with a monitor, cups and boxes in the background, and a stationary robotic device with green indicator lights is on the left side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the black jacket hanging on the grey chair back, grasps and lifts the jacket, moves it over the adjacent white round table, lowers the jacket, releases it onto the table next to the tissue pack, then moves upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 251, "tasks": ["place clothing"], "length": 762, "global_instruction": "Move the black garment from the chair to the table, then reposition the white striped sock and black garment on the table.", "scene_description": "A white round table is in the foreground, with folded white socks with red stripes at its center, a black garment draped over the back of a gray mesh chair to the table's right, a robotic arm positioned above the table, and a woman working at a desk with a monitor and boxes in the background.", "global_instruction_dense": "The right robotic arm moves to the gray chair to grasp the black garment, places it on the white round table, then grasps the folded white striped sock on the table to lift and move it across the table before placing it back, then grasps the black garment on the table to lift and reposition it before placing it back down.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 252, "tasks": ["place clothing"], "length": 143, "global_instruction": "Pick up the black garment from the chair back and place it on the checkered table.", "scene_description": "A table covered with blue and white checkered tablecloth holds a green cylindrical object and a white cloth with red stripes. A gray chair next to the table has a black garment draped over its back, a robotic arm is positioned above the chair, with a white door and writing-marked whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the black garment draped over the gray chair back, grasps the garment, lifts it, moves it over the checkered table, releases it onto the table surface, then moves back to its initial position above the chair.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 253, "tasks": ["place clothing"], "length": 171, "global_instruction": "Pick up the black garment from the table and place it on the back of the grey office chair.", "scene_description": "A table covered in a blue and white checkered tablecloth holds a black garment, a green highlighter, and a white cloth with red stripes. A grey office chair is beside the table, a whiteboard with handwritten notes and a black rolling suitcase are against the far wall, and a robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves downward to grasp the black garment on the table, lifts the garment, moves it toward the grey office chair, drapes the garment over the chair's back, releases the garment, and moves upward away from the chair.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 254, "tasks": ["place clothing"], "length": 195, "global_instruction": "Pick up the black garment from the chair back and place it on the checkered table.", "scene_description": "A round table with a blue and white checkered tablecloth holds a green marker and a white cloth with red stripes. A black garment is draped over the back of a gray chair next to the table, and a robotic arm is positioned above the scene with a whiteboard and office door in the background.", "global_instruction_dense": "The right robotic arm moves down toward the black garment on the gray chair back, grasps it, lifts it, moves it over the checkered table, lowers it onto the table surface, releases the garment, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 255, "tasks": ["place clothing"], "length": 209, "global_instruction": "Pick the black shirt from the chair back and place it on the checkered table.", "scene_description": "A round table with blue-white checkered tablecloth holds a green item and a white cloth with red stripes. A black shirt is draped over a gray chair back next to the table, a whiteboard with notes and black rolling suitcase are in the background, and a robotic arm is at the upper left.", "global_instruction_dense": "The left robotic gripper moves toward the black shirt on the gray chair back, grasps it, lifts it, moves it over the checkered table, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 256, "tasks": ["place clothing"], "length": 210, "global_instruction": "Pick the black jacket from the chair back and place it onto the checkered table", "scene_description": "A round table with a blue and white checkered tablecloth is in the foreground, a black jacket is draped over the back of a grey office chair beside the table, a green object and white cloth with red stripes rest on the table, and a whiteboard with formulas is in the background with a robotic gripper above the table.", "global_instruction_dense": "The right robotic gripper moves down toward the black jacket on the grey chair back, grasps the jacket, lifts it, moves it over the blue and white checkered table, lowers and releases it onto the table, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 257, "tasks": ["place clothing"], "length": 215, "global_instruction": "Pick the black garment from the chair back and place it onto the checkered table.", "scene_description": "A round table with blue and white checkered tablecloth holds a green tool and a white cloth with red stripes. A black garment is draped over the back of a gray office chair in front of the table, a white robotic arm is positioned above the chair, a whiteboard with handwritten notes is on the wall behind the table, and a black rolling suitcase sits next to the whiteboard.", "global_instruction_dense": "The right robotic arm moves toward the black garment on the gray chair back, grasps the garment, lifts it, moves it over the blue and white checkered table, lowers and releases the garment onto the table, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 258, "tasks": ["place clothing"], "length": 160, "global_instruction": "Pick up the black garment from the chair back and place it on the checkered table.", "scene_description": "A round table with blue and white checkered tablecloth is in a lab room. A black garment is draped over a gray chair back next to the table, a green item and a white cloth with red stripes rest on the table. A whiteboard with handwritten notes is on the rear wall, a robotic arm is above the table, and a glass door is at the left rear.", "global_instruction_dense": "The right robotic arm moves downward toward the black garment on the chair back, grasps it with its gripper, lifts it, moves it over the table, releases the garment onto the table, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 259, "tasks": ["place clothing"], "length": 178, "global_instruction": "Pick the black garment from the gray chair back and place it onto the blue-and-white checkered table.", "scene_description": "A table covered with a blue-and-white checkered tablecloth holds a white cloth with red stripes. A black garment rests on the back of a gray chair adjacent to the table. A white robotic arm is positioned on the left side of the frame, with a whiteboard with writings, a black rolling suitcase, and glass doors in the background.", "global_instruction_dense": "The left robotic arm moves toward the black garment resting on the gray chair back, grasps it, lifts it, moves it over the blue-and-white checkered table, releases it onto the table, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 260, "tasks": ["place clothing"], "length": 124, "global_instruction": "Pick up the black jacket from the office chair and place it onto the checkered table", "scene_description": "A round table with blue and white checkered tablecloth is in the foreground, a white towel with red stripes is on its right. A black jacket is draped over a grey office chair back next to the table, a white robotic arm is at the top left, a glass-paneled white door is in the background, a whiteboard with written content is on the right wall, and a black rolling suitcase is beside the whiteboard.", "global_instruction_dense": "The left robotic arm moves toward the black jacket on the grey office chair, grasps it with the gripper, lifts the jacket, moves it over the blue and white checkered table, then releases the jacket onto the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 261, "tasks": ["place clothing"], "length": 145, "global_instruction": "Pick up the black jacket from the office chair and place it on the checkered table.", "scene_description": "A blue and white checkered table holds a folded white cloth with red stripes. A black jacket is draped over the back of a grey office chair next to the table, a robotic arm is positioned to the left of the view, and a whiteboard with handwritten notes is on the back wall.", "global_instruction_dense": "The right robotic arm moves toward the black jacket on the office chair back, grasps it, lifts it, moves it over the checkered table, lowers it, releases it onto the table surface, then lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 262, "tasks": ["place clothing"], "length": 264, "global_instruction": "Pick up the black T-shirt from the table and place it on the back of the grey office chair.", "scene_description": "A table covered with a blue and white checkered tablecloth holds a black T-shirt and a white cloth with red stripes. A grey office chair is next to the table, a whiteboard with handwritten formulas is on the back wall, and a black rolling suitcase is at the right side of the wall.", "global_instruction_dense": "The left robotic arm moves downward toward the black T-shirt on the checkered table, grasps the T-shirt with its gripper, lifts it, moves it to the back of the nearby grey office chair, releases the T-shirt onto the chair back, then moves upward away from the chair.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 263, "tasks": ["place clothing"], "length": 122, "global_instruction": "Pick the black shirt from the chair back and place it on the checkered table", "scene_description": "A blue and white checkered table is in the foreground, a black shirt is draped over the back of a gray office chair next to the table, a white towel with red stripes is on the right of the table, and a whiteboard with handwritten formulas is on the rear wall.", "global_instruction_dense": "The left robotic arm moves toward the black shirt on the chair back, grasps it, lifts it, moves it over the checkered table, then releases it to drop onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 264, "tasks": ["place clothing"], "length": 180, "global_instruction": "Pick the black garment from the office chair and place it on the checkered table.", "scene_description": "A round table with blue-and-white checkered tablecloth is in a lab, a black garment is draped over the back of a grey office chair in front of the table, a white cloth with red stripes rests on the table, a black rolling suitcase sits next to a formula-covered whiteboard in the background, and a robotic arm is positioned above the table.", "global_instruction_dense": "The left robotic arm moves toward the black garment on the grey office chair, grasps and lifts the garment, moves it over the checkered table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 265, "tasks": ["place clothing"], "length": 221, "global_instruction": "Pick up the black garment from the checkered table and place it on the back of the grey office chair.", "scene_description": "A table covered with a blue and white checkered tablecloth holds a black garment with white circular markings and a white cloth with red stripes. A grey office chair is next to the table, a formula-covered whiteboard is in the background, and a robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves downward toward the black garment on the checkered table, grasps it, lifts it, moves it over the back of the adjacent grey office chair, releases it onto the chair, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 266, "tasks": ["place clothing"], "length": 143, "global_instruction": "Pick the black garment from the chair back and place it onto the checkered table.", "scene_description": "A round table covered with blue and white checkered tablecloth sits in a lab. A black garment is draped over the back of a grey office chair beside the table, a white cloth with red stripes rests on the table, a whiteboard with written formulas is on the right wall, and a robotic arm is positioned near the glass-paneled door at the left.", "global_instruction_dense": "The left robotic arm moves toward the black garment draped over the office chair back, grasps the garment, lifts it, moves it over the blue and white checkered table, lowers it, releases it onto the table surface, then retracts.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 267, "tasks": ["place clothing"], "length": 181, "global_instruction": "Pick up the black t-shirt from the table and place it on the back of the grey office chair", "scene_description": "A black t-shirt and a folded white cloth with red stripes rest on a blue-and-white checkered round table. A grey office chair sits next to the table, a marked whiteboard is on the background wall, a glass door is to the left, and a black rolling suitcase is positioned to the right of the table. A robotic arm is held above the table.", "global_instruction_dense": "The left robotic arm moves downward toward the black t-shirt on the checkered table, grasps the t-shirt, lifts it and moves it toward the adjacent grey office chair, places the t-shirt on the chair's back, releases it, then moves back upward to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 268, "tasks": ["place clothing"], "length": 360, "global_instruction": "Place the white mask from the table into the open middle tier of the white cabinet", "scene_description": "A white circular table holds a three-tiered white cabinet with its middle door open. A white mask rests on the table in front of the cabinet, cardboard boxes sit on the left counter and right wall shelves, and a robotic gripper is positioned above the cabinet.", "global_instruction_dense": "The right robotic arm moves down to grasp the white mask on the white circular table, lifts and moves the mask toward the open middle tier of the white cabinet, places the mask inside the cabinet, then releases the mask and retracts its gripper.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 269, "tasks": ["place clothing"], "length": 163, "global_instruction": "Pick up the gray slipper and place it in a new position on the beige blanket.", "scene_description": "A brown wooden table covered with a beige fleece blanket holds a pair of gray slippers, a dark rectangular device, and small items, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves downward toward the gray slipper on the blanket, grasps it with its gripper, lifts and shifts it slightly, then releases it onto the blanket in an adjusted position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 270, "tasks": ["place clothing"], "length": 404, "global_instruction": "Pick up the blue and white hoodie from the chair, lift it, then place it back onto the chair.", "scene_description": "A black monitor sits on a marble-patterned desk next to a clear plastic water bottle, a blue and white hoodie rests on a wooden chair near a white door, and a white robotic arm is positioned to the right of the desk.", "global_instruction_dense": "The right robotic arm moves toward the blue and white hoodie on the wooden chair, grasps the hoodie with its gripper, lifts it upward, holds it briefly, then lowers it back onto the chair and releases it.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 271, "tasks": ["place clothing"], "length": 300, "global_instruction": "Pick up the dark blue hat from the chair and place it on the marble-patterned table.", "scene_description": "A black monitor sits on the left of a marble-patterned table with a clear plastic water bottle, a wooden chair with stacked blue clothing and a dark blue hat on top of the clothes is positioned to the right of the table, and a white Franka robotic arm base is on a wooden table at the far right next to a window with blinds.", "global_instruction_dense": "The right robotic arm extends toward the dark blue hat resting on top of stacked clothing on the wooden chair, grasps the hat, lifts it, moves it left over the marble-patterned table, and lowers it toward the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 272, "tasks": ["place clothing"], "length": 280, "global_instruction": "Pick up a blue and white sock from the wooden chair and place it on the table in front of the black monitor.", "scene_description": "A black monitor is positioned to the left near a window with white blinds, a clear water bottle rests on the table in front of the monitor, a wooden chair holding a pile of blue and white socks is in the middle, and a Franka robotic arm base sits on the right light wooden table.", "global_instruction_dense": "The right robotic arm moves from outside the frame down toward the sock pile on the wooden chair, grasps one blue and white sock, lifts it, moves it left over the table in front of the black monitor, lowers it onto the table surface, and releases the gripper to place the sock.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 273, "tasks": ["place clothing"], "length": 314, "global_instruction": "Pick up the light blue garment on the desk and place it on the back of the wooden chair in front of the desk.", "scene_description": "A light blue garment, a white clothes hanger, and small items are placed on a light brown wooden desk. A wooden chair with a yellow cushion sits in front of the desk, a bed with blue patterned bedding is to the desk's right, a white side table with a white lamp is near the background doorway, and a framed picture hangs on the gray wall above the desk.", "global_instruction_dense": "The right robotic gripper moves toward the light blue garment on the wooden desk, grasps and lifts it, moves it over the back of the wooden chair in front of the desk, places the garment on the chair back, then releases the garment and retracts away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 274, "tasks": ["place clothing"], "length": 365, "global_instruction": "Move one silver and light blue sneaker from behind the stacked books to the front of the books on the table.", "scene_description": "A dark brown table holds two stacked books, with a pair of silver and light blue sneakers behind the books; a white robotic arm is positioned at the right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the pair of silver and light blue sneakers behind the stacked books, grasps one sneaker, lifts it, moves it forward to the space in front of the books, lowers and releases it onto the table, then moves back toward the remaining sneaker at the back of the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 275, "tasks": ["place clothing"], "length": 176, "global_instruction": "Place the front light gray sneaker onto the rear light gray sneaker that rests on the books.", "scene_description": "A dark glossy table holds a light gray sneaker at its front, a book behind the front sneaker, a second identical light gray sneaker behind the book, and a white robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the front light gray sneaker on the table, grasps the sneaker, lifts it and moves it over the rear light gray sneaker on the stack of books, lowers the sneaker onto the rear sneaker, releases it, then moves upward away from the shoes.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 276, "tasks": ["place clothing"], "length": 169, "global_instruction": "Reposition the pair of grey sneakers on the table to a new orientation.", "scene_description": "A pair of grey sneakers and a small stack of paper materials are placed on a dark brown table, with a robotic arm positioned to the right of the table against a plain light grey wall.", "global_instruction_dense": "The right robotic arm moves downward toward the pair of grey sneakers on the dark table, grasps the pair, lifts and rotates them, then lowers them back to the table and releases them in a new aligned position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 277, "tasks": ["place clothing"], "length": 409, "global_instruction": "Pick the top sneaker from the stacked pair and place it on the dark brown table.", "scene_description": "A dark brown corner table holds two stacked light grey and blue sneakers, with a robotic arm positioned to the right of the table against a white wall.", "global_instruction_dense": "The right robotic arm moves toward the top sneaker of the stacked pair on the dark table, grasps it, lifts it off the lower sneaker, moves it to an empty spot on the table, lowers it, and releases it, separating the two sneakers on the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 278, "tasks": ["place clothing"], "length": 175, "global_instruction": "Place the side-lying gray sneaker in an upright position on the dark table.", "scene_description": "A dark brown table against a light wall holds two gray-blue sneakers, with a side-lying sneaker in front and an upright sneaker behind it, and a right robotic arm positioned above the shoes.", "global_instruction_dense": "The right robotic arm moves downward toward the side-lying gray sneaker, grasps it, lifts and rotates it to an upright orientation, places it next to the other upright sneaker on the table, then retracts its gripper upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 279, "tasks": ["place clothing"], "length": 291, "global_instruction": "Move the front light blue and gray sneaker to the edge of the dark brown table closer to the camera.", "scene_description": "A dark brown table holds two light blue and gray sneakers, with a right robotic gripper arm positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper moves toward the front light blue and gray sneaker on the dark brown table, grasps the sneaker, lifts it, moves it forward to the table edge closer to the camera, then lowers and releases it on the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 280, "tasks": ["place clothing"], "length": 185, "global_instruction": "Move the right blue sneaker to the area next to the small stacked boxes on the table.", "scene_description": "A dark brown table holds two blue-gray sneakers, a stack of small boxes left of the sneakers, a white rack with gray draped clothes on the far left, a white-black robotic arm on the right, and a camera mounted on the wall behind the table.", "global_instruction_dense": "The right robotic arm moves toward the right blue sneaker on the dark table, grasps it, lifts it, moves it left to the position adjacent to the stacked small boxes, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 281, "tasks": ["place clothing"], "length": 192, "global_instruction": "Pick up the front light blue sneaker, reorient it, and place it next to the other sneaker on the table.", "scene_description": "A dark brown tabletop holds two light blue and silver sneakers, with a small light brown box behind the sneakers; a white shelf with gray draped clothing sits to the left of the table, and a robotic arm is positioned above the table's upper right area.", "global_instruction_dense": "The right robotic gripper moves down toward the front light blue sneaker on the dark brown table, grasps it, lifts and rotates it to reorient its direction, lowers it to place it next to the second sneaker, then releases the sneaker and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 282, "tasks": ["place clothing"], "length": 210, "global_instruction": "Pick up the gray hoodie and place it on the top surface of the white freestanding shelf.", "scene_description": "A white freestanding 3-tier shelf is positioned against a white wall. The shelf holds a book on its middle tier, and a brown box, gray hexagonal object, and small green bottle on its lower tier. A gray hoodie hangs to the left of the shelf, a doorway is visible to the right of the shelf, and a robotic arm is at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves from the top right toward the gray hoodie left of the white shelf, grasps the hoodie, lifts it, moves it over the shelf's top surface, lowers it onto the shelf, releases the hoodie, and retracts upward away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 283, "tasks": ["place clothing"], "length": 187, "global_instruction": "Place the brown hat on the white side table next to the tissue box", "scene_description": "A light gray wall with a gold-framed painting sits behind a white side table holding a black-and-white checkered tissue box and a white cloth. A dark brown cabinet is to the right of the table, and a robotic arm is visible in the upper right area.", "global_instruction_dense": "The right robotic arm grasps a brown hat, moves it downward toward the white side table, places it next to the checkered tissue box, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 284, "tasks": ["place clothing"], "length": 174, "global_instruction": "Place the brown hat onto the light gray table beside the tissue box.", "scene_description": "A light gray small table sits below a gold-framed wall painting, holding a black-and-white checkered tissue box and loose white paper. A dark brown cabinet is to the right of the table, a brown hat is near the upper door frame, and a robotic arm is mounted at the right of the scene.", "global_instruction_dense": "The right robotic arm grasps the brown hat from its initial position near the upper door frame, moves the hat downward over the light gray table, lowers the hat onto the table surface next to the tissue box, then releases the hat and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 285, "tasks": ["place clothing"], "length": 420, "global_instruction": "Place the light brown cowboy hat onto the white bedside table.", "scene_description": "A light gray wall with a gold-framed painting hangs above a white bedside table, which holds a black-and-white checkered tissue box, a black mouse, and a small white digital clock. A dark brown cabinet stands to the right of the table, and a white robotic arm is positioned in the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves left to grasp the light brown cowboy hat, carries it over the white bedside table, lowers it, and releases it onto the table next to the tissue box.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 286, "tasks": ["place clothing"], "length": 260, "global_instruction": "Place the straw hat on top of the white tower fan.", "scene_description": "A yellow shaded table lamp with brass base, clear plastic water bottle, and white vertical tower fan sit on a side table near a window with white horizontal blinds. A white robotic arm is mounted on a work table to the right, with a white front door with semicircular glass transom and black-yellow caution barrier in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the straw hat, grasps it, lifts it upward, moves it left over the white tower fan, lowers it onto the fan's top, releases the hat, then retracts upward away from the fan.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 287, "tasks": ["place clothing"], "length": 671, "global_instruction": "Flip the flat straw hat upright, then place the blue tape roll and small glass jar inside the hat.", "scene_description": "A wooden table holds a flat light brown straw hat at its center, a blue tape roll atop a white box on the left, a black keyboard in the lower left, assorted small supplies behind the hat, and a fixed right robotic arm on a wooden platform to the table's right, with the left robotic arm raised above the table.", "global_instruction_dense": "The left robotic arm first grasps the flat straw hat, flips it to stand upright with its opening facing up on the table, then grasps the blue tape roll on the left white box, moves it to the hat and drops it inside, then grasps the small clear glass jar behind the hat, moves it to the hat and drops it inside the hat.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 288, "tasks": ["place clothing"], "length": 188, "global_instruction": "Place the left light blue sneaker from the shoe rack's top tier onto the right light blue sneaker on the same tier.", "scene_description": "A black metal two-tier shoe rack sits on a brown wooden table, two light blue sneakers are placed side by side on the rack's top tier, small items are on the rack's lower tier and table surface, and a white robotic arm with a black gripper is positioned at the right of the scene.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the left light blue sneaker on the shoe rack top tier, lifts the sneaker upward, moves it rightward above the right light blue sneaker, lowers it, and releases it to rest on top of the right sneaker.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 289, "tasks": ["place clothing"], "length": 165, "global_instruction": "Pick up the topmost gray sneaker from the upper shelf and place it next to the other sneakers on the same shelf.", "scene_description": "A black metal shelf sits on a brown wooden table, with three gray sneakers on its upper tier and small items including a green tube and metal cutlery on its lower tier. A white robotic arm is mounted on a right-side workbench with glowing green rails, and a black robotic gripper is positioned above the top sneaker. The background is a home living area with chairs, a TV, windows, and a vase of yellow flowers.", "global_instruction_dense": "The left robotic gripper grasps the topmost gray sneaker from the upper metal shelf, lifts it, moves it downward to an empty spot on the same upper shelf, and releases it to place it beside the remaining two gray sneakers.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 290, "tasks": ["place clothing"], "length": 194, "global_instruction": "Reposition the left sneaker on the top shelf to align neatly next to the right sneaker.", "scene_description": "A black metal shelf on a wooden table holds a pair of light blue-gray sneakers on its top tier and small miscellaneous items on its lower tier; a black left robotic gripper is positioned above the shelf, with a white Franka robotic arm on the right side of the table.", "global_instruction_dense": "The left robotic gripper moves toward the left light blue-gray sneaker on the top of the metal shelf, grasps it, lifts and rotates it to adjust orientation, lowers it back onto the top shelf aligned next to the right sneaker, then releases the sneaker and moves upward away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 291, "tasks": ["place clothing"], "length": 282, "global_instruction": "Move the two silver sneakers from the inner part of the wire rack to the front edge of the rack, arranged side by side.", "scene_description": "Two silver and gold accented mesh sneakers are placed side by side on a black metal wire rack. To the left of the rack is a wooden work desk with a black keyboard, white printer, papers, and small tools, while white cabinets with glass doors and drawers sit behind the rack under a window.", "global_instruction_dense": "The right robotic arm moves down to grasp the right silver sneaker on the wire rack, lifts it, moves it to the front right edge of the rack and places it down, then moves left to grasp the remaining left silver sneaker, lifts it, moves it to the front left edge of the rack next to the first sneaker, places it down, then retracts upward away from the shoes.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 292, "tasks": ["place clothing"], "length": 389, "global_instruction": "Reposition the front light blue sneaker on the metal rack to align it with the rear sneaker.", "scene_description": "A pair of light blue-gray sneakers rests on a black metal rack. To the left of the rack is a wooden desk holding a black keyboard, white toaster oven, and assorted small items including a black mug, yellow tennis ball, and green cloth. White cabinets with glass panel doors and drawers are in the background, and a right robotic gripper is positioned above the sneakers.", "global_instruction_dense": "The right robotic gripper moves down toward the front light blue sneaker on the black metal rack, grasps it, lifts and rotates it to adjust its orientation, lowers it back onto the rack aligned with the rear sneaker, releases it, and moves upward away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 293, "tasks": ["place clothing"], "length": 233, "global_instruction": "Move the two gray and gold sneakers from the back of the metal rack to the front of the rack.", "scene_description": "A wooden desk holds a black keyboard, white toaster oven, black mouse, mug, tennis ball, and assorted small tools. A black metal rack in front of the desk holds two gray and gold sneakers, with a robotic gripper positioned to the right of the rack.", "global_instruction_dense": "The robotic gripper moves to grasp a gray sneaker at the back of the metal rack, lifts it, moves it to the front of the rack and releases it, then moves back to grasp the remaining gray sneaker at the back of the rack, lifts it, moves it to the front of the rack adjacent to the previously placed sneaker, releases it, then retracts away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 294, "tasks": ["place clothing"], "length": 1033, "global_instruction": "Move a light blue sneaker from the upper bar of the shoe rack to the lower grid surface of the same rack.", "scene_description": "A black metal shoe rack rests on a wooden table, with two light blue and gray sneakers placed on the upper bar of the rack. A black keyboard, white toaster oven, tennis ball, and assorted small tools are on the table, with white glass-front cabinets and a window in the background.", "global_instruction_dense": "The right robotic arm moves toward the front light blue sneaker on the upper shoe rack bar, grasps it, lifts it upward, moves it over the lower grid of the rack, lowers it onto the grid, adjusts its position, then releases the sneaker and moves away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 295, "tasks": ["place clothing"], "length": 582, "global_instruction": "Place the gray sneaker from the upper tier of the shoe rack onto the lower tier of the rack.", "scene_description": "A black metal shoe rack holding two gray sneakers sits on a wooden desk. A white toaster oven is on the left of the desk, a keyboard is at the bottom left, small tools are scattered on the desk, a white cabinet is near the background window, and a robotic arm is positioned at the right of the shoe rack.", "global_instruction_dense": "The right robotic gripper approaches the gray sneaker on the upper tier of the shoe rack, grasps it by inserting into the shoe, lifts it, moves it over the lower tier, lowers it onto the lower tier, adjusts its position, then releases the sneaker and retracts the arm.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 296, "tasks": ["place clothing"], "length": 456, "global_instruction": "Place the gray-blue sneaker from the top of the wire rack onto the lower shelf next to the other gray sneaker.", "scene_description": "A black metal wire rack rests on a wooden desk. A gray and blue sneaker sits on the top edge of the rack, another gray sneaker is on the rack's lower shelf. The desk holds a black keyboard, white toaster oven, and assorted small tools, a white cabinet is behind the desk, and a robotic arm is positioned to the right of the rack.", "global_instruction_dense": "The right robotic arm moves toward the gray-blue sneaker on the top edge of the black wire rack, grasps it, lifts it, moves it down to the rack's lower shelf, positions it next to the other gray sneaker, releases it, then retracts back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 297, "tasks": ["place clothing"], "length": 178, "global_instruction": "Pick a grey sneaker from the lower tier of the wire rack and place it on the upper tier of the rack.", "scene_description": "A black metal wire rack is placed on a wooden table, with two grey sneakers on its lower tier. A white toaster oven sits on a wooden table to the left, white cabinets are in the background, and a robotic arm is positioned at the upper right.", "global_instruction_dense": "The right robotic arm moves toward the grey sneaker on the lower tier of the wire rack, grasps it, lifts it upward, moves it over the upper tier of the rack, lowers it, and releases it onto the upper tier.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 298, "tasks": ["place clothing"], "length": 212, "global_instruction": "Place the gray sneaker from the lower tier of the wire shelf onto the upper tier next to the other gray sneaker.", "scene_description": "A black metal wire shelf sits on a light brown wooden tabletop. One gray sneaker rests on the lower tier of the shelf, another gray sneaker rests on the upper tier, a white toaster oven is on the table to the left of the shelf, and a white cabinet is in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the gray sneaker on the lower tier of the wire shelf, grasps the sneaker, lifts it up, moves it to the upper shelf tier next to the existing gray sneaker, and releases it to set it in place.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 299, "tasks": ["place clothing"], "length": 256, "global_instruction": "Pick up the front light blue and silver sneakers and place them behind the gray sneaker pair on the rack.", "scene_description": "Two pairs of sneakers sit on a dark metal rack atop a wooden table: a light blue and silver pair at the front, and a gray with blue accents pair behind it. The table also holds a keyboard, white toaster oven, and papers, with white glass-front cabinets, a wooden chair, and camera equipment in the background.", "global_instruction_dense": "The right robotic gripper moves down to grasp the front light blue and silver sneakers on the rack, lifts them upward, moves them rearward above the gray sneaker pair, lowers the sneakers, and releases them to rest behind the gray pair on the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 300, "tasks": ["place clothing"], "length": 372, "global_instruction": "Place the top stacked gray-blue sneaker behind the lower gray-blue sneaker on the shelf.", "scene_description": "A black metal shelf sits on a wooden table, with two stacked gray-blue sneakers on the shelf top, a straw hat on a lower shelf level, a white toaster oven on a brown desk left of the shelf, a white glass-front cabinet in the background, and a robotic arm on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves toward the top stacked gray-blue sneaker on the metal shelf, grasps it with its gripper, lifts it, moves it to the area behind the lower gray-blue sneaker on the shelf, lowers and releases it into position, then moves away from the placed shoe.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 301, "tasks": ["place clothing"], "length": 291, "global_instruction": "Pick up the beige straw hat and place it on the front section of the black metal rack.", "scene_description": "A black metal rack sits on a wooden table. On the upper part of the rack is a pair of gray and blue running sneakers, a beige straw hat is positioned on the rack below the sneakers. To the left of the rack are a white keyboard, white papers, and a small white toaster oven. A white robotic arm is located at the right side of the rack.", "global_instruction_dense": "The right robotic gripper moves toward the beige straw hat positioned under the gray-blue sneakers on the black metal rack, grasps the hat, lifts it, moves it forward over the front of the rack, lowers it, and releases it onto the front part of the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 302, "tasks": ["place clothing"], "length": 153, "global_instruction": "Pick up the beige straw hat and place it on top of the grey-blue sneakers.", "scene_description": "A beige straw hat sits on the front of a black wire rack, with a pair of grey and blue athletic sneakers behind it on the same rack. A brown desk with a white keyboard and white printer is to the left of the rack, a wooden chair with a light striped cushion is to the right, and white glass-paneled cabinets are in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the beige straw hat on the front of the black wire rack, grasps the hat, lifts it, moves it backward over the grey-blue sneakers, lowers it onto the sneakers, and releases the hat before moving away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 303, "tasks": ["place clothing"], "length": 263, "global_instruction": "Move the beige straw hat from the lower tier of the black metal rack to the upper tier of the same rack atop the gray sneakers.", "scene_description": "A black two-tier metal rack sits on a tan cloth-covered table. A beige straw hat rests on the rack's lower tier, while a green cloth and gray sneakers are on the upper tier. To the rack's left, a wooden table holds papers, a pink plaid cloth, sneakers, and a green tube, with a white cabinet and wooden chair in the background, and a robotic arm at the right side.", "global_instruction_dense": "The right robotic gripper moves toward the beige straw hat on the lower tier of the black metal rack, grasps the hat, lifts it out of the lower tier, moves it over the upper tier of the rack, lowers it, and releases it to rest on the gray sneakers on the upper tier.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 304, "tasks": ["place clothing"], "length": 226, "global_instruction": "Hang the beige straw hat from the top of the black metal rack onto its lower crossbar.", "scene_description": "A black metal wire rack sits on a tan fabric-covered table, a beige straw sun hat rests on the upper shelf of the rack, a robotic arm is at the top right of the view, with items like sneakers, a printer, a wooden chair, and white window-side cabinets in the background.", "global_instruction_dense": "The right robotic gripper moves toward the beige straw hat on the upper shelf of the black metal rack, grasps the hat, lifts it, positions it over the lower crossbar of the rack, hangs the hat on the crossbar, then releases the hat and moves away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 305, "tasks": ["place clothing"], "length": 246, "global_instruction": "Move the gray sneaker from the front of the metal wire rack to the back of the rack next to the other sneakers.", "scene_description": "A black metal wire rack sits on a table covered with light brown cloth. On the rack, a gray sneaker is at the front, a blue tape roll and black device are adjacent to it, a straw hat is on the lower rack, and more gray sneakers are at the rack's back. To the left of the rack, a wooden table holds papers, a pink plaid cloth, a green tube, another gray sneaker, and a white printer. A wooden chair is to the rack's right, and a robotic arm is at the top right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the gray sneaker at the front of the metal wire rack, grasps it, lifts it, moves it backward to the back of the rack, lowers it, places it next to the other sneakers on the rack, then releases it and moves upward away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 306, "tasks": ["place clothing"], "length": 300, "global_instruction": "Move the beige straw hat from the lower shelf of the black rack to the upper shelf of the rack.", "scene_description": "A black metal wire rack is placed on a wooden table. A beige straw hat is on the rack's lower shelf, a yellow tennis ball and a pair of white-blue sneakers are on the rack's upper shelf. A white toaster oven is on the left of the table, silver-gray sneakers are on the left wooden floor, a white drawer cabinet is in the background, and a robotic arm is at the right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the beige straw hat on the lower shelf of the black metal rack, grasps the hat, lifts it above the rack's upper shelf, adjusts its position, releases the hat onto the upper shelf, and retracts away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 307, "tasks": ["place clothing"], "length": 194, "global_instruction": "Move the tan straw hat from the metal rack to the adjacent beige cloth surface.", "scene_description": "A black metal rack holds a tan straw hat on its upper tier and a red-and-white striped cloth on its lower tier. A robotic arm is at the top right, gray sneakers rest on a wooden floor to the left, blue hangers sit on a beige cloth surface to the right of the rack, and white cabinets are below a background window.", "global_instruction_dense": "The right robotic arm moves toward the tan straw hat on the upper tier of the black metal rack, grasps the hat with its gripper, lifts it, moves it rightward over the beige cloth surface, lowers the hat, releases it onto the surface, then moves upward away from the hat.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 308, "tasks": ["place clothing"], "length": 166, "global_instruction": "Pick up the yellow straw hat on the right of the table and place it next to the dark brown mug on the left of the table.", "scene_description": "A light brown table holds a black radio, a dark brown mug, a white cloth with red stripes, and a yellow straw hat on the table's right side. Sneakers rest on a rack near a window and white cabinets in the background, a doorway leads to another room with wooden chairs, and a robotic arm is visible on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves toward the yellow straw hat on the right side of the table, grasps it with its gripper, lifts it, moves it leftward across the table, and places it next to the dark brown mug near the black radio.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 309, "tasks": ["place clothing"], "length": 468, "global_instruction": "Place the pink and white striped shirt onto the white clothes hanger on the wooden desk.", "scene_description": "A wooden desk has a black keyboard on its upper ledge, a pink and white striped shirt laid on its surface, a white clothes hanger next to the shirt, and a small dark stationery cup near its back edge, with a robotic arm positioned to the right of the desk.", "global_instruction_dense": "The right robotic arm moves toward the pink and white striped shirt on the wooden desk, grasps sections of the shirt multiple times, adjusts its grip and position, attempts to thread the shirt onto the white clothes hanger, then releases the shirt and moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 310, "tasks": ["place clothing"], "length": 461, "global_instruction": "Place one silver and blue running shoe atop the other on the wooden desk.", "scene_description": "A wooden desk holds a white plastic clothes hanger, an orange tape roll, a pair of silver and blue running shoes, and a small black tool, with a framed artwork on the wall above the desk, a bed with patterned striped bedding to the far right, and a robotic arm positioned above the right side of the desk near the shoes.", "global_instruction_dense": "The right robotic arm moves toward the pair of silver and blue running shoes on the wooden desk, first adjusts the position of the right shoe, rearranges the small books behind the shoes, then grasps the left shoe, lifts it, and places it atop the right shoe to complete the stacking arrangement.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 311, "tasks": ["place clothing"], "length": 392, "global_instruction": "Place one blue-silver sneaker from the desk onto the adjacent stack of thin books.", "scene_description": "A light brown wooden desk holds a white plastic hanger, orange tape roll, pair of blue and silver sneakers, small orange toy car, stack of thin books, and small black object. A robotic arm is at the right edge of the frame, a framed picture hangs above the desk, a striped bedding bed is to the right, and a doorway is in the background.", "global_instruction_dense": "The right robotic arm moves from the right edge of the frame toward the pair of blue and silver sneakers on the wooden desk, grasps the upper sneaker and moves it aside, adjusts the position of the stack of thin books next to the sneakers, then re-grasps the sneaker and places it on top of the adjusted book stack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 312, "tasks": ["place clothing"], "length": 706, "global_instruction": "Place the top light blue sneaker from the desk onto the upper edge of the wooden desk.", "scene_description": "A light brown wooden desk holds a white clothes hanger, a roll of orange tape, two stacked white books, and a pair of stacked light blue sneakers. A black keyboard rests on the desk's top edge, a white table lamp sits behind the desk, a framed picture hangs on the wall above the desk, and a bed with blue-gray striped bedding is to the right of the desk.", "global_instruction_dense": "The right robotic gripper moves from the upper right area toward the stacked light blue sneakers on the wooden desk, grasps the top sneaker, lifts it, moves it to the upper edge of the desk, adjusts its position on the edge, then releases the sneaker and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 313, "tasks": ["place clothing"], "length": 295, "global_instruction": "Place the light blue sneaker on the lower desk surface next to the matching sneaker on the desk's upper shelf.", "scene_description": "A light brown wooden desk has a light blue sneaker, orange tape roll, white hanger, small orange toy car, black item, and white rectangular box on its lower surface, with another matching light blue sneaker on the desk's upper shelf. A robotic arm is positioned at the upper right of the desk, and a bed is visible in the right background.", "global_instruction_dense": "The right robotic arm moves down toward the light blue sneaker on the lower wooden desk surface, grasps the sneaker, lifts it upward and moves it to the desk's upper shelf, lowers it next to the matching sneaker already on the shelf, releases it, and lifts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 314, "tasks": ["place clothing"], "length": 404, "global_instruction": "Place the pair of light blue sneakers from the upper desk ledge onto the lower desk surface", "scene_description": "A wooden desk with an upper ledge holding a pair of light blue and white sneakers sits in a room. The lower desk surface has an orange duct tape roll, two white books, a small orange toy car, and a black remote. A bed with checkered bedding is to the right of the desk, with a doorway visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the pair of light blue sneakers on the upper desk ledge, grasps the sneakers, lifts them off the ledge, lowers them to the lower desk surface, adjusts their position, releases them, then moves away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 315, "tasks": ["place clothing"], "length": 419, "global_instruction": "Place the two gray sneakers from the table onto the upper tier of the black wire shelf", "scene_description": "A black metal multi-tier wire shelf sits beside a dark brown table. On the table, there are two gray sneakers and a blue cleaning spray bottle with a red and yellow nozzle. A white robotic arm is mounted on a wooden surface to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the right gray sneaker on the dark table, grasps it, lifts it, moves it to the upper level of the black wire shelf and releases it, then moves back to the table, grasps the left gray sneaker, and lifts it.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 316, "tasks": ["place clothing"], "length": 225, "global_instruction": "Place the gray sneaker from the table onto the top shelf of the black shoe rack.", "scene_description": "A black metal shoe rack stands next to a dark table. A blue and white sneaker sits on the rack's top shelf, a gray sneaker and a blue spray bottle with yellow and red cap are on the table, and a white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the gray sneaker on the table, grasps it, lifts it, moves it over the top shelf of the black shoe rack, lowers it onto the shelf next to the existing blue and white sneaker, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 317, "tasks": ["place clothing"], "length": 251, "global_instruction": "Place the grey and blue sneaker onto the black metal drying rack", "scene_description": "A black metal wire drying rack is on a dark table, with a white cloth on its top layer, a blue and yellow spray bottle, and two grey sneakers on the table below the rack, and a white robotic arm is on the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the grey and blue sneaker on the dark table, grasps it with its gripper, lifts the sneaker, moves it over the black metal drying rack, lowers it, and releases it onto the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 318, "tasks": ["place clothing"], "length": 489, "global_instruction": "Place the sneaker from the lower table onto the upper shoe rack and align both sneakers on the rack.", "scene_description": "A black metal multi-tier shoe rack sits on a dark table, with one white and blue sneaker on the lower table surface, another identical white and blue sneaker on the upper rack tier, a blue and yellow cleaning spray bottle, and white cloths near a white robotic arm positioned on the right of the scene.", "global_instruction_dense": "The right robotic arm moves to the sneaker on the lower table, grasps it, lifts and moves it to the upper shoe rack, places it next to the existing sneaker, then grasps the existing sneaker, adjusts its position to align with the newly placed sneaker, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 319, "tasks": ["place clothing"], "length": 395, "global_instruction": "Reposition the front blue and white sneaker on the black wire shelf to a new position on the same shelf.", "scene_description": "A black metal wire shelf sits on a dark wooden table, with a blue spray bottle with a red nozzle, a pair of blue and white sneakers, and a white cloth on its top layer; another white cloth is on the table below, and a white Franka robotic arm is positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves left toward the front blue and white sneaker on the black wire shelf, grasps the sneaker by its inner opening, lifts it into the air, adjusts its orientation, lowers it back to the shelf, and releases it in a new position next to the other sneaker.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 320, "tasks": ["place clothing"], "length": 347, "global_instruction": "Pick the gray slipper from the shoe rack's top shelf and place it on the rack's lower shelf.", "scene_description": "A black multi-layer metal shoe rack sits on a dark wooden table, a pair of gray slippers are on the rack's top shelf, other shoes are on the lower rack layer, a blue spray bottle with yellow label and white nozzle, and a white cloth are on the table, with a white robotic arm on the right facing the rack.", "global_instruction_dense": "The right robotic arm moves toward the gray slipper on the shoe rack's top shelf, grasps and lifts the slipper, moves it down to the rack's lower shelf, positions it next to other shoes, releases the slipper, then moves away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 321, "tasks": ["place clothing"], "length": 417, "global_instruction": "Place the pair of light blue sneakers onto the orange cushion", "scene_description": "A wooden desk holds a clear tape roll, a white hanger, and a pair of light blue sneakers. Behind the sneakers are a yellow cushion under an orange cushion, a wooden cabinet with books on top sits above the desk, and a robotic arm is positioned on the right.", "global_instruction_dense": "The right robotic arm moves toward the light blue sneakers on the desk, grasps one sneaker, lifts and places it on the orange cushion, then grasps another sneaker, lifts and places it on top of the first sneaker on the orange cushion, then moves upward away from the cushion.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 322, "tasks": ["place clothing"], "length": 602, "global_instruction": "Pick up the light blue and white sneaker from the orange pillow and place it on the upper wooden ledge of the desk.", "scene_description": "A wooden desk holds two stacked pillows (yellow at the bottom, orange on top) and a roll of tan tape on its lower surface, a light blue and white sneaker rests on the orange pillow, two books sit on the desk's upper ledge, a robotic arm is positioned in the upper right of the scene, and a bed with checkered bedding is visible to the right of the desk.", "global_instruction_dense": "The right robotic arm moves from its initial upper right position toward the light blue and white sneaker on the orange pillow, grasps the sneaker, lifts it upward, moves it to the desk's upper ledge, places it next to the books on the ledge, then retracts upward away from the ledge.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 323, "tasks": ["place clothing"], "length": 281, "global_instruction": "Place a grey-blue sneaker from the lower wire shelf onto the upper layer of the same wire shelf.", "scene_description": "A black two-layer metal wire shelf sits on a dark brown cabinet. The lower shelf holds two grey-blue sneakers and a white cloth at its left end. On the cabinet below the shelf, there is a blue spray bottle with a yellow label and red nozzle, plus a crumpled white cloth. A white Franka Emika robotic arm is positioned to the right of the shelf with its gripper raised.", "global_instruction_dense": "The right robotic gripper moves toward a grey-blue sneaker on the lower wire shelf, grasps it, lifts it upward, moves it to the upper layer of the wire shelf, lowers it, and releases it onto the upper shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 324, "tasks": ["place clothing"], "length": 269, "global_instruction": "Pick up the lower blue sneaker on the shoe rack and place it next to the upper blue sneaker on the same rack.", "scene_description": "A black metal shoe rack sits on a dark wooden table. The top rack holds two blue-gray sneakers and a white cloth, the lower rack holds gray slippers. A blue cleaning spray bottle with a yellow label and white nozzle, plus another white cloth, are on the table next to the rack, with a white robotic arm positioned to the right of the rack.", "global_instruction_dense": "The right robotic arm moves toward the lower blue sneaker on the top shoe rack, grasps it with its gripper, lifts it upward, moves it left to the space beside the other blue sneaker on the upper part of the top rack, lowers the sneaker, and releases it to place it there.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 325, "tasks": ["place clothing"], "length": 502, "global_instruction": "Place the pair of light blue sneakers from the headboard ledge onto the yellow pillow on the bed.", "scene_description": "A wooden headboard with a pair of light blue and silver sneakers, books, and a framed picture above it sits at the head of a bed. A yellow pillow, an orange pillow, a roll of tape, and a white hanger are placed on the bed surface, with a robotic arm at the right side of the scene.", "global_instruction_dense": "The right robotic arm first moves down to adjust the position of the yellow pillow on the bed, then moves upward to the headboard ledge, grasps the first light blue and silver sneaker, lowers it to place it on the yellow pillow, next grasps the second light blue and silver sneaker from the ledge, lowers it to place it next to the first sneaker on the yellow pillow, and finally moves away from the area.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 326, "tasks": ["place clothing"], "length": 706, "global_instruction": "Place the two light blue sneakers from the yellow pillow onto the top of the wooden desk.", "scene_description": "A wooden desk holds a yellow pillow with two light blue sneakers on it, an orange pillow, a roll of beige tape, a white hanger, and books on the desk top; a right robotic arm is positioned to the right, and a bed with checkered bedding is visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the light blue sneakers on the yellow pillow, grasps each sneaker sequentially, lifts them, places them onto the top surface of the wooden desk, adjusts the placed sneakers, and reacts as one sneaker falls from the desk back onto the yellow pillow.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 327, "tasks": ["place clothing"], "length": 305, "global_instruction": "Pick a gray slipper from the lower shoe rack shelf and place it on the upper shoe rack shelf next to the sneakers.", "scene_description": "A black metal shoe rack sits on a dark table, holding gray-and-blue sneakers on its upper shelf and two gray slippers on its lower shelf. A blue cleaning spray bottle, white cloths, and a right robotic arm on a wooden base are positioned beside the rack.", "global_instruction_dense": "The right robotic arm moves toward a gray slipper on the lower shelf of the shoe rack, grasps the slipper with its gripper, lifts it upward, moves it over the upper shelf of the shoe rack, lowers it, and releases it next to the gray-and-blue sneakers.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 328, "tasks": ["place clothing"], "length": 320, "global_instruction": "Place the gray slipper from the lower shelf of the shoe rack onto the upper shelf of the shoe rack.", "scene_description": "A black metal shoe rack sits next to a dark table. The rack holds a pair of gray and blue sneakers, two gray slippers, and white cloths. A blue spray bottle with a yellow label is on the dark table, and a right robotic arm is positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the gray slipper on the lower shelf of the shoe rack, grasps the slipper with its gripper, lifts it upward, moves it over the upper shelf of the shoe rack, lowers it, releases it onto the upper shelf next to the other gray slipper, then retracts its gripper.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 329, "tasks": ["place clothing"], "length": 782, "global_instruction": "Pick up the blue sneaker by its laces and place it on the upper wooden desk ledge.", "scene_description": "A blue-and-white sneaker with white laces is propped upright on a brown tape roll on a wooden desk. The desk also holds a yellow pillow, orange pillow, white clothes hanger, two stacked books on the upper ledge, and an orange toy car on the lower desk surface. A framed picture hangs on the wall above the desk, and a white robotic arm is positioned at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the sneaker's laces, grasps the laces with its gripper, lifts the sneaker upward, moves it to the upper desk ledge above the books, sets the sneaker down on the ledge, releases the laces, and moves away from the ledge.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 330, "tasks": ["place clothing"], "length": 219, "global_instruction": "Reposition the pair of gray slippers from the back of the upper shoe rack shelf to the front of the same shelf.", "scene_description": "A black metal shoe rack sits on a dark table, holding two gray sneakers, a pair of gray slippers, and white cloths. A blue cleaning spray bottle is on the table below the rack, and a white robotic arm is positioned to the right of the rack.", "global_instruction_dense": "The right robotic arm moves left toward the gray slippers at the back of the upper shoe rack shelf, grasps and lifts the slippers, rotates them, moves them to the front of the shelf, lowers and places them on the shelf before releasing the gripper.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 331, "tasks": ["place clothing"], "length": 223, "global_instruction": "Pick up the upper grey slipper from the stacked pair and place it beside the other slipper on the shelf.", "scene_description": "A black metal wire shelf holding stacked grey slippers, white cloths, and a blue container sits on a dark table, with a white robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the stacked grey slippers on the shelf, inserts its gripper into the upper grey slipper, lifts the slipper, moves it slightly right, lowers it onto the shelf next to the other grey slipper, releases the slipper, and lifts upward away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 332, "tasks": ["place clothing"], "length": 380, "global_instruction": "Place the gray sneaker from the top of the wire rack onto the lower shelf of the rack", "scene_description": "A black wire rack sits on a dark table, holding a black-and-white checkered tissue box, gray sneakers, gray slippers, and a loose white tissue. A white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the gray sneaker on the top wire rack, grasps it, lifts it, lowers it to the lower rack shelf, adjusts its position, then releases the sneaker and pulls away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 333, "tasks": ["place clothing"], "length": 320, "global_instruction": "Pick the light gray slipper from the upper wire shelf and hang it on the shelf's front metal rail.", "scene_description": "A black metal wire shelving unit holds a black-and-white checkered tissue box, multiple pairs of footwear including a light gray slipper at the front upper shelf, and a crumpled white tissue. A white robotic arm is positioned to the right of the shelf, with a dark wooden table under the shelf and light walls with louvered doors in the background.", "global_instruction_dense": "The right robotic arm moves toward the light gray slipper on the upper wire shelf, grasps the slipper, lifts it, moves it to the front black metal rail of the shelf, hooks the slipper onto the rail, releases the slipper, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 334, "tasks": ["place clothing"], "length": 659, "global_instruction": "Place the gray sneakers from the shoe rack's top shelf onto its lower shelf.", "scene_description": "A black metal shoe rack holding a black-and-white checkered tissue box, gray sneakers, and gray slippers sits on a dark table, with a white robotic arm positioned to the right of the rack.", "global_instruction_dense": "The right robotic arm moves toward the gray sneakers on the shoe rack's top shelf, grasps one sneaker, lifts and adjusts its orientation, places it on the rack's lower shelf, then grasps the remaining sneaker on the top shelf, moves it to the lower shelf, releases it, and moves away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 335, "tasks": ["place clothing"], "length": 533, "global_instruction": "Pick the gray slipper on the top rack shelf and place it next to the other gray slipper on the middle shelf.", "scene_description": "A black metal multi-shelf rack is on the left, with a black-and-white checkered tissue box, blue spray bottle, and gray slipper on its top shelf, another gray slipper and blue-white sneakers on its middle shelf, and a white robotic arm on the right.", "global_instruction_dense": "The right robotic arm moves toward the gray slipper on the top of the black metal rack, grasps it, lifts it, moves it downward to the middle shelf, adjusts its position, and places it adjacent to the matching gray slipper on the middle shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 336, "tasks": ["place clothing"], "length": 389, "global_instruction": "Move the light blue sneaker from the upper desk shelf onto the desk surface.", "scene_description": "A wooden desk with an upper shelf holds a light blue sneaker, a purple book, and an orange cylinder on the shelf, while the desk surface has a small orange toy car and a black flexible-neck desk lamp. A white robotic arm is positioned near the desk lamp.", "global_instruction_dense": "The right robotic arm adjusts the position of the black flexible-neck desk lamp, then reaches up to the upper desk shelf to grasp the light blue sneaker, lifts it, lowers it, and places it onto the desk surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 337, "tasks": ["place clothing"], "length": 231, "global_instruction": "Place the blue-white sneaker from the table onto the top layer of the black metal shelf.", "scene_description": "A black metal multi-layer shelf sits on the left of a dark table. The shelf's top layer holds a black-and-white checkered tissue box and a blue spray bottle, its middle layer holds gray slippers. A gray lace-up sneaker and a blue-white sneaker are on the table below the shelf, and a white Franka robotic arm is positioned on the right side of the scene.", "global_instruction_dense": "The right robotic gripper moves down toward the blue-white sneaker on the dark table, grasps the sneaker, lifts it, moves it left over the top layer of the black metal shelf, lowers it, and places it on the shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 338, "tasks": ["place clothing"], "length": 266, "global_instruction": "Place the gray-blue sneaker from the dark table onto the top tier of the black metal shelf next to the matching sneaker.", "scene_description": "A black metal multi-tier shelf is placed on a dark table. The shelf's top tier holds a black-and-white checkered tissue box, gray slippers, a blue spray bottle, and a gray-blue sneaker. Another identical gray-blue sneaker sits on the dark table below the shelf, with a white robotic arm positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the gray-blue sneaker on the dark table, grasps it with its gripper, lifts it upward, moves it over the top tier of the black metal shelf, lowers it next to the other identical gray-blue sneaker, releases the sneaker, and moves upward away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 339, "tasks": ["place clothing"], "length": 414, "global_instruction": "Place the rear grey slipper on the metal shelf next to the front grey slipper.", "scene_description": "A black metal storage shelf rests on a dark brown table. The shelf's top level holds a black-and-white checkered tissue box, grey-and-blue sneakers, a blue spray bottle, a loose white tissue, and two grey slippers. A white robotic arm is positioned on the right facing the shelf.", "global_instruction_dense": "The right robotic arm moves toward the rear grey slipper on the shelf, grasps it, lifts and moves it left to the space next to the front grey slipper, lowers and releases it, then moves back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 340, "tasks": ["place clothing"], "length": 300, "global_instruction": "Pick up the blue and gray sneaker on the desk and place it onto the book.", "scene_description": "A wooden desk holds a blue and gray sneaker, a book with a purple cover, a small black desk lamp, and a small orange toy car. A white and gray robotic arm is positioned above the right side of the desk.", "global_instruction_dense": "The right robotic arm moves toward the blue and gray sneaker on the desk, grasps it with its gripper, lifts it, moves it leftward over the book on the desk, lowers it, and places it onto the book.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 341, "tasks": ["place clothing"], "length": 270, "global_instruction": "Place the gray slipper from the top shoe rack shelf onto the lower shoe rack shelf.", "scene_description": "A black metal shoe rack stands next to a dark table. The top rack holds a blue spray bottle, white cloth, and gray slippers; the lower rack has gray slippers and blue sneakers. A small green bottle and a black-and-white patterned tissue box sit on the table, with a white robotic arm positioned to the right of the rack.", "global_instruction_dense": "The right robotic arm moves toward the gray slipper on the top shelf of the shoe rack, grasps the slipper with its gripper, lifts it, moves it downward to the lower shelf of the rack, and releases the slipper onto the lower shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 342, "tasks": ["place clothing"], "length": 350, "global_instruction": "Remove the dark brown mug from inside the light blue sneaker, then place the sneaker on top of the mug.", "scene_description": "A light brown wooden desk is the main surface in the scene. On the front left of the desk sits a white plastic clothes hanger. At the center of the desk, a dark brown mug with a white rim is placed inside a light blue sneaker. A small black flexible-neck desk lamp sits behind the sneaker, and a small orange toy car is on the right side of the desk surface. Two stacked beige books and a yellow cylindrical object rest on the upper shelf of the desk, and a framed picture hangs on the wall behind the desk. A robotic arm is visible at the right edge of the frame, and a bed with plaid bedding is in the right background.", "global_instruction_dense": "The right robotic arm first moves toward the dark brown mug inside the light blue sneaker, grasps the mug, lifts it out of the sneaker, places it on the wooden desk surface next to the sneaker, then moves to grasp the light blue sneaker, lifts it, positions it over the mug, lowers it to place the sneaker on top of the mug, then releases the sneaker and retracts away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 343, "tasks": ["place clothing"], "length": 452, "global_instruction": "Move the two blue and gray sneakers from the shoe shelf onto the dark countertop below the shelf.", "scene_description": "A black metal multi-tier shoe shelf sits on a dark brown countertop. The top shelf holds a blue spray bottle with yellow and red accents, a white cloth draped over the left edge, and a blue and gray sneaker on the right of the top shelf. The lower shelf holds gray slippers and a second blue and gray sneaker. A white Franka Emika robotic arm is positioned on the right side of the scene facing the shelf.", "global_instruction_dense": "The right robotic arm moves toward the blue and gray sneaker on the top shelf, grasps it, lowers it to the dark countertop below and releases it, then moves toward the blue and gray sneaker on the lower shelf, grasps it, moves it to the dark countertop and releases it next to the first sneaker.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 344, "tasks": ["place clothing"], "length": 591, "global_instruction": "Place the gray slippers from the lower shelf tier onto the upper shelf tier of the black storage rack.", "scene_description": "A black multi-tier metal storage shelf sits on a dark brown cabinet. The upper shelf holds a blue spray bottle (with yellow and red neck) and a white cloth on its left edge, plus a brown clothes hanger. Two gray slippers rest on the lower tier of the shelf, and blue-and-white sneakers are on the cabinet surface below the shelf. A white robotic arm is positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward a gray slipper on the lower tier of the storage shelf, grasps and lifts it, places it onto the upper shelf tier, then moves back to the lower tier, grasps and lifts the remaining gray slipper, and places it onto the upper shelf tier beside the previously placed slipper.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 345, "tasks": ["place clothing"], "length": 294, "global_instruction": "Pick a gray slipper from the top of the black shelf and place it on the dark table next to the sneakers.", "scene_description": "A black metal shelf sits on a dark wooden table. The top shelf holds a blue spray bottle, a white cloth on its left edge, and a pair of gray slippers. The table below the shelf has a pair of blue-and-white running sneakers, and a white robotic arm is positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves left toward a gray slipper on the top of the black metal shelf, grasps the slipper, lifts it, moves it downward, and places it on the dark table next to the blue-and-white running sneakers.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 346, "tasks": ["place clothing"], "length": 382, "global_instruction": "Move the pair of white and blue sneakers from the lower shoe rack shelf to the upper shelf, then place the small green object inside the sneaker.", "scene_description": "A black metal shoe rack holds a white cloth on its top left rail, a blue spray bottle with yellow and red nozzle on its lower shelf, a pair of white and blue sneakers, and gray slippers on the lower shelf. A white robotic arm is positioned to the right of the rack.", "global_instruction_dense": "The right robotic arm moves toward the lower shoe rack, grasps the pair of white and blue sneakers, lifts and places them on the upper rack shelf, then grasps the small green object from the lower shelf and places it inside the sneaker on the upper shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 347, "tasks": ["place clothing"], "length": 577, "global_instruction": "Place a grey-blue sneaker from the counter onto the top shelf of the black shoe rack.", "scene_description": "A black metal shoe rack is on a dark counter, with a white cloth and a grey-blue sneaker on its top shelf. Multiple sneakers rest on the counter below the shelf next to a blue spray bottle with a yellow label and white nozzle, and a white robotic arm is positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves down toward the sneakers on the counter, grasps a grey-blue sneaker, lifts it upward, moves it over the top shelf of the shoe rack, and releases it next to the existing sneaker on the top shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 348, "tasks": ["place clothing"], "length": 300, "global_instruction": "Place the gray slippers from the floor onto the lower shelf of the black shoe rack.", "scene_description": "A black multi-tier metal shoe rack holds a white cloth and blue-gray sneakers on its top shelf, a pair of gray slippers rests on the floor below the rack, a blue spray bottle with a white-red nozzle is in the foreground, and a white robotic arm is positioned to the right of the rack.", "global_instruction_dense": "The right robotic arm moves downward to grasp the gray slippers on the floor, lifts the slippers, positions them over the lower shelf of the black shoe rack, releases them onto the shelf, then retracts away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 349, "tasks": ["place clothing"], "length": 369, "global_instruction": "Move a blue-grey sneaker from the top shelf to the lower shelf, then place a grey slipper on the top shelf.", "scene_description": "A black multi-tier metal shoe rack sits on a dark brown cabinet, with a white cloth, a pair of blue-grey sneakers on the top tier, a pair of grey slippers, a blue spray bottle with a yellow label, and a wooden hanger on the lower tier area; a white robotic arm is positioned to the right of the rack.", "global_instruction_dense": "The right robotic arm reaches toward the right blue-grey sneaker on the top tier of the shoe rack, grasps it, lowers it to the lower tier and releases it, then reaches for a grey slipper on the lower tier, grasps it, lifts it to the top tier, places it next to the remaining sneaker, and retracts.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 350, "tasks": ["place clothing"], "length": 133, "global_instruction": "Move the gray slipper from the middle shelf of the shoe rack onto the table below.", "scene_description": "A black metal two-layer shoe rack sits on a dark brown table. The rack holds a white cloth, two sneakers on the top layer, a blue sneaker and a gray slipper on the middle layer. A blue cleaning spray bottle with a yellow neck and orange-white nozzle is in front of the rack, and a white robotic arm is positioned to the right of the rack.", "global_instruction_dense": "The right robotic arm extends toward the gray slipper on the middle shelf of the shoe rack, grasps the slipper with its gripper, lifts it off the shelf, lowers it onto the dark table surface below the rack, and releases the slipper.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 351, "tasks": ["place clothing"], "length": 310, "global_instruction": "Place the gray sneaker with blue accents from the top shoe rack tier onto the lower rack tier.", "scene_description": "A black multi-tier shoe rack holding several sneakers and a white cloth sits on a dark table, a blue spray bottle with a red trigger and white nozzle is in the foreground, and a white robotic arm is positioned to the right of the rack against a light wall.", "global_instruction_dense": "The right robotic arm extends toward the gray and blue sneaker on the top tier of the shoe rack, grips the sneaker inside its opening, lifts it up, moves it down toward the lower tier, and places it onto the lower tier before releasing its grip.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 352, "tasks": ["place clothing"], "length": 207, "global_instruction": "Place the grey slipper from the lower table surface onto the upper level of the shoe rack", "scene_description": "A black metal shoe rack is on a dark table. The upper rack holds a white cloth, grey sneakers, and a grey slipper. The lower table surface beside the rack has blue-and-white sneakers and another grey slipper. A blue spray bottle with yellow body and red nozzle is in the left foreground, and a white robotic arm is positioned on the right.", "global_instruction_dense": "The right robotic arm extends left toward the grey slipper on the lower table surface, grasps it with its gripper, lifts it upward, moves it to the upper level of the shoe rack, lowers it into position, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 353, "tasks": ["place clothing"], "length": 216, "global_instruction": "Move the blue-and-white sneaker from the middle shelf of the shoe rack to the top shelf of the shoe rack.", "scene_description": "A black multi-tier metal shoe rack sits in the room, its top shelf holds a white cloth, a gray sneaker, and a gray slipper, its middle shelf holds a blue-and-white sneaker and a gray slipper, a blue cleaning spray bottle with a red nozzle and yellow neck is in the left foreground, and a white Franka robotic arm is positioned to the right of the rack.", "global_instruction_dense": "The right robotic arm extends toward the blue-and-white sneaker on the middle shelf of the shoe rack, grasps the sneaker with its gripper, lifts it upward, moves it to the top tier of the rack, lowers the sneaker onto the top shelf, and releases its grip.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 354, "tasks": ["place clothing"], "length": 249, "global_instruction": "Move the gray slipper from the middle shelf of the shoe rack to the top shelf of the shoe rack.", "scene_description": "A black metal shoe rack with assorted sneakers on its top shelf and a gray slipper on its middle shelf sits adjacent to a dark table holding a blue cleaning spray bottle with a yellow neck and orange-red nozzle; a white robotic arm is positioned to the right of the shoe rack.", "global_instruction_dense": "The right robotic arm moves toward the gray slipper on the shoe rack's middle shelf, grasps the slipper, lifts it upward, moves it over the shoe rack's top shelf, lowers it onto the top shelf, and releases the slipper to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 355, "tasks": ["place clothing"], "length": 440, "global_instruction": "Move the pair of grey and light blue sneakers to the front of the wooden desk", "scene_description": "A light brown wooden desk has a straw hat with a dark brown bow on its upper ledge, stacked books, yellow tape, a yellow-green marker container, a small grey desk lamp, an orange toy car, a green tennis ball, a white clothing hanger, a pair of grey and light blue sneakers, and black wires. A framed picture hangs on the wall behind the desk, with a robotic arm positioned on the right above the desk.", "global_instruction_dense": "The right robotic arm moves toward the grey and light blue sneakers at the rear of the desk, adjusts their shoelaces, grasps the sneakers, lifts and moves them to the front of the desk, then releases them and moves upward away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 356, "tasks": ["place clothing"], "length": 288, "global_instruction": "Pick the blue and white sneaker from the top shoe rack shelf and place it on the rack's lower shelf.", "scene_description": "A black metal shoe rack holding multiple pairs of shoes (sneakers and gray slip-ons) on its top shelf stands against a light wall, a blue cleaning spray bottle with a white trigger nozzle rests on a dark wooden surface in front of the rack, and a white Franka robotic arm is positioned to the right of the rack.", "global_instruction_dense": "The right robotic gripper moves toward the blue and white sneaker on the top shoe rack shelf, grasps the sneaker, lifts it off the top shelf, moves it downward to position over the lower shelf, lowers the sneaker onto the lower shelf, releases it, then retracts the gripper away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 357, "tasks": ["place clothing"], "length": 222, "global_instruction": "Pick up the gray slipper from the shoe rack's top shelf and place it on the rack's lower shelf.", "scene_description": "A black multi-tier shoe rack is positioned next to a dark wooden table. The rack's top shelf holds multiple pairs of shoes, a small light brown box, and white paper; its middle shelf has a blue sneaker. A blue spray bottle with a white nozzle rests on the table, and a Franka Emika robotic arm is located to the right of the rack.", "global_instruction_dense": "Right robotic arm moves toward the gray slipper on the top tier of the black shoe rack, grasps the slipper, lifts it, moves it downward to the lower shelf of the rack, and releases it to place the slipper on the lower shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 358, "tasks": ["place clothing"], "length": 267, "global_instruction": "Place the shoe horn from the dark wooden table onto the lower shelf of the black shoe rack.", "scene_description": "A black metal shoe rack holding sneakers, a white cloth, a small brown box, and slippers sits beside a dark wooden table. A blue spray bottle with a white nozzle rests on the table, and a white robotic arm is positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves downward to grasp the shoe horn on the dark wooden table, lifts it, moves it left toward the lower shelf of the black shoe rack, lowers it onto the shelf, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 359, "tasks": ["place clothing"], "length": 237, "global_instruction": "Place the gray-blue sneaker from the top of the shoe rack onto the dark table surface below.", "scene_description": "A black metal shoe rack sits on a dark wooden table. The rack's top shelf holds a gray-blue sneaker, a small beige box, a gray slipper, and white paper towels. A blue and yellow spray bottle rests on the table below the rack, and a robotic arm is positioned to the right of the rack.", "global_instruction_dense": "The right robotic arm moves toward the gray-blue sneaker on the shoe rack's top shelf, grasps it, lifts it off the shelf, moves it downward over the dark table, lowers it, and releases it onto the table next to the spray bottle.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 360, "tasks": ["place clothing"], "length": 165, "global_instruction": "Pick up the white and blue sneaker from the table and place it on the upper shelf of the black storage rack.", "scene_description": "A black metal storage rack sits left of a white Franka robotic arm. On the dark table surface in front of the rack, a blue and yellow cleaning spray bottle is left of a white and blue sneaker. The rack's upper shelf holds a small brown box and gray slippers, with another pair of gray sneakers on the middle rack level.", "global_instruction_dense": "The right robotic arm moves toward the white and blue sneaker on the dark table, grasps it with its gripper, lifts it upward, moves it over the upper shelf of the black storage rack, lowers it, and releases it onto the brown box on the upper shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 361, "tasks": ["place clothing"], "length": 264, "global_instruction": "Place the pair of gray and blue sneakers from the desk surface onto the upper shelf of the wooden desk.", "scene_description": "A light brown wooden desk has a pair of gray and blue sneakers, a white clothes hanger, a book, and small items on its surface, a beige cowboy hat on its upper shelf, a wooden chair in front of it, and a robotic arm to its right.", "global_instruction_dense": "The left robotic arm moves toward the pair of gray-blue sneakers on the desk, grasps them, lifts them upward, moves to the desk's upper shelf, places the sneakers on the shelf, then releases them and retracts away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 362, "tasks": ["place clothing"], "length": 307, "global_instruction": "Pick up the grey slipper and place it onto the black metal wire rack.", "scene_description": "A white robotic arm is on the right, a black metal wire rack is on the left, a blue-and-white sneaker sits on a small wooden plank, a grey slipper is below the sneaker on a dark table, and a white open shelf is against the back wall.", "global_instruction_dense": "The right robotic arm moves toward the grey slipper under the blue-and-white sneaker, grasps the slipper with its gripper, lifts it, moves left over the black metal wire rack, lowers the slipper, and releases it onto the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 363, "tasks": ["place clothing"], "length": 195, "global_instruction": "Move the pair of gray slippers from the upper metal shelf onto the dark table below the shelf.", "scene_description": "A black metal shelf with a pair of gray slippers on its upper layer, additional shoes on the rear of the shelf, a white open storage shelf against the back wall, a dark table with a book under the metal shelf, and a white robotic arm positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the pair of gray slippers on the upper metal shelf, grasps a slipper, lifts it, lowers it onto the dark table below and releases it, then grasps another slipper, lowers it onto the table and releases it.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 364, "tasks": ["place clothing"], "length": 251, "global_instruction": "Pick up the gray slippers and place them on the black metal shelf rack.", "scene_description": "A white robotic arm is positioned on the right of the room, a black metal shelf rack is on the left, a pair of gray slippers rests on a surface next to the rack, and a white open shelf unit is against the wall between them.", "global_instruction_dense": "The right robotic arm moves toward the gray slippers beside the rack, grasps them with its gripper, lifts the slippers, moves them over the black metal shelf rack, lowers them, and places them onto the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 365, "tasks": ["place clothing"], "length": 206, "global_instruction": "Pick the gray slipper from the upper rack layer and place it onto the lower rack layer.", "scene_description": "A black metal storage rack with a gray slipper on its upper layer, a white open shelf against the wall in the background, and a white robotic arm positioned to the right of the rack.", "global_instruction_dense": "The right robotic arm moves toward the gray slipper on the upper layer of the black metal rack, grasps the slipper with its gripper, lifts the slipper, moves it down over the lower layer of the rack, and releases the slipper onto the lower rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 366, "tasks": ["place clothing"], "length": 602, "global_instruction": "Remove the green bottle from the sneaker, place it on the lower table, then move the sneaker to the lower storage surface.", "scene_description": "A white and blue sneaker rests on the upper tier of a black metal rack, with a small light green plastic bottle inside the sneaker. A white robotic arm is mounted on the right, and a white open shelving unit stands against the background wall.", "global_instruction_dense": "The right robotic arm grasps the green bottle inside the sneaker on the upper metal rack, lifts and places the bottle on the lower table, then returns to grasp the sneaker, lifts it off the upper rack, moves it down, and adjusts its position on the lower surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 367, "tasks": ["place clothing"], "length": 278, "global_instruction": "Pick the gray slippers from the lower shoe rack level and place them on the upper shoe rack level.", "scene_description": "A black multi-tier metal shoe rack is on the left, holding shoes, a white cloth, a green bottle and gray slippers on lower levels; a white open shelf is behind the rack, and a right robotic arm is on the right.", "global_instruction_dense": "The right robotic arm moves toward the gray slippers on the lower shoe rack, grasps the slippers, lifts and moves them over the upper rack tier, lowers and releases them onto the upper tier, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 368, "tasks": ["place clothing"], "length": 237, "global_instruction": "Place the light yellow straw hat onto the surface of the wooden desk.", "scene_description": "A light brown wooden desk holds an open Crayola crayon box, a white plastic clothes hanger, stacked books, a bright green tennis ball, loose papers, and small toy figures. A wooden chair is positioned in front of the desk, shoes rest on the desk's upper hutch, and a striped bed is visible to the right of the desk.", "global_instruction_dense": "The right robotic arm carries a light yellow straw hat over the wooden desk, lowers the hat to the desk surface, releases it, and lifts away leaving the hat resting on the desk near the stacked books.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 369, "tasks": ["place clothing"], "length": 591, "global_instruction": "Pick up the grey garment hanging from the rack edge and place it onto the rack surface.", "scene_description": "A black multi-tier metal rack is positioned on the left, a grey garment hangs from its right edge, a Franka Emika robotic arm is mounted on a wooden table on the right, and a white open shelving unit sits against a white wall in the background.", "global_instruction_dense": "The right robotic arm moves toward the grey garment hanging from the metal rack's right edge, grasps it, lifts it upward over the rack, places it onto the rack surface, adjusts the garment's position, then retracts away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 370, "tasks": ["place clothing"], "length": 202, "global_instruction": "Pick up the beige hat from the desk and place it on the upper shelf of the desk's wooden hutch.", "scene_description": "A wooden desk with a beige hat, a box of colorful crayons, remote controls, books, a green tennis ball, a small toy car, and papers on its surface. A wooden chair sits in front of the desk, and a bunk bed with striped bedding is to the right of the desk.", "global_instruction_dense": "The right robotic arm moves toward the beige hat on the desk, grasps it with its gripper, lifts the hat, moves it over the upper shelf of the desk hutch, lowers it, and releases the hat onto the shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 371, "tasks": ["place clothing"], "length": 303, "global_instruction": "Place the gray sneaker on top of the open book on the table stack.", "scene_description": "A dark brown table holds a stack of items: a striped base, a grid-patterned box, and an open book on top of the stack. A white right robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the gray sneaker, grasps and lifts it, moves it over the open book on the table stack, lowers it onto the book, releases the sneaker, then moves away from the stack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 372, "tasks": ["place clothing"], "length": 733, "global_instruction": "Place two light blue sneakers on the wooden desk, then place the purple-covered book onto the desk shelf's lower compartment.", "scene_description": "A light brown wooden desk with an upper wooden shelf holding a silver remote, green-and-yellow package, and straw hat sits in the foreground. The desk surface holds a purple-covered paperback book, black wired mouse, orange pen, two smaller paperbacks, white paper, and small orange toy car. To the right is a bunk bed with blue striped bedding, yellow and orange pillows.", "global_instruction_dense": "The right robotic arm carries a light blue and gray sneaker into the scene, places it on the desk over the white paper, places a second matching light blue sneaker next to the first, then grasps the purple book from the desk, lifts it, and sets it in the lower compartment of the wooden desk shelf.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 373, "tasks": ["place clothing"], "length": 414, "global_instruction": "Pick up the straw hat from the desk hutch and place it on the wooden desk surface.", "scene_description": "A wooden desk holds a red-and-white striped cloth, orange pen, book, remote control, white paper, USB cable, and small toys. A light yellow straw hat rests on top of the desk hutch, a white lamp sits beside the hutch, a right robotic arm is positioned on the desk's right side, a wooden chair is in front of the desk, and a bed with striped bedding is to the far right.", "global_instruction_dense": "The right robotic arm first moves a USB cable from the desk to the hutch edge to clear space, then moves upward to grasp the light yellow straw hat on top of the desk hutch, lifts it, moves downward, and places it onto the wooden desk surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 374, "tasks": ["place clothing"], "length": 385, "global_instruction": "Place the beige straw hat from under the desk onto the desk's upper shelf", "scene_description": "A wooden desk holds a black wired mouse, orange pen, white printed book, gray remote control, white paper, a small red item, and a colorful toy car. A pink-and-white checkered cloth rests on the desk's upper wooden shelf, a bed with blue striped bedding and yellow/orange pillows is on the right, a white robotic arm is positioned to the right of the desk, and a beige straw hat sits under the desk near a wooden chair.", "global_instruction_dense": "The right robotic arm moves downward to the beige straw hat under the desk, grasps the hat, lifts it up toward the desk's upper shelf, places the hat on the shelf, then retracts back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 375, "tasks": ["place clothing"], "length": 274, "global_instruction": "Place the white face mask's ear strap onto the blue stand on the table", "scene_description": "A light brown wooden table sits next to a window with white horizontal blinds. On the table, a blue stand holds a white face mask, with a metal fork, silver stapler, and small colorful round discs scattered on the table surface. A white robotic arm is positioned at the right of the table near yellow-black safety barriers.", "global_instruction_dense": "The right robotic arm moves toward the white face mask on the blue stand, grasps its white ear strap, lifts and positions the strap onto the blue stand, releases the strap, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 376, "tasks": ["place clothing"], "length": 224, "global_instruction": "Pick up the black hat from the coat rack and place it on the wooden table.", "scene_description": "A light brown wooden table next to a blind-covered window holds a polka-dot cup, silver foil pack, yellow banana, scattered white papers, blue perforated container, metal spoons, and a plastic bag; a black hat hangs on a white coat rack to the table's right beside a robotic arm.", "global_instruction_dense": "The right robotic arm grasps the black hat hanging on the white coat rack, lifts it, moves it left over the wooden table, lowers it, and places it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 377, "tasks": ["place clothing"], "length": 378, "global_instruction": "Hang the beige short-sleeved shirt and its black hanger on the white coat rack.", "scene_description": "A window with silver horizontal blinds is on the left, with a light wooden table below holding a white cup, metal rack, blue perforated basket with a striped cloth, white cloth, and yellow flower. A white coat rack with a beige oven mitt hanging on it is to the right of the table, and a white robotic arm holds a black hanger with a beige short-sleeved shirt near the top right.", "global_instruction_dense": "The right robotic gripper holds a black hanger with a beige short-sleeved shirt, moves toward the white coat rack, hangs the shirt on the coat rack, then hangs the empty black hanger on a lower hook of the coat rack before retracting away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 378, "tasks": ["place clothing"], "length": 234, "global_instruction": "Pick the yellow garment from the coat rack and place it onto the wooden table.", "scene_description": "A wooden table holding a banana, dotted white cup, black-and-white patterned card, small red/yellow/black discs, folded gray and white cloths, a stapler, and metal spoons sits beside a window with white blinds. A white coat rack with a hanging yellow garment, yellow-black safety barrier, white shelf with electronics, and a white robotic arm are positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the yellow garment hanging on the white coat rack, grasps the garment, lifts it from the rack, moves it over the wooden table, and releases it onto the table's surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 379, "tasks": ["place clothing"], "length": 233, "global_instruction": "Grasp the yellow garment from the coat rack and place it on the wooden table", "scene_description": "A wooden table stands next to a window with white blinds. On the table: a spotted paper cup, a black-and-white patterned notebook, small colorful round tokens, a gray folded blanket with a yellow banana on top, scattered papers, a blue pouch, and a white face mask. A white coat rack with a yellow garment hanging on it stands beside the table, with yellow-black warning barriers behind it, and a white shelf holding a robotic device in the right background.", "global_instruction_dense": "The right robotic arm moves toward the yellow garment hanging on the white coat rack, grasps the garment, lifts it off the rack, moves it over the wooden table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 380, "tasks": ["place clothing"], "length": 184, "global_instruction": "Pick the yellow slipper from the countertop and place it onto the gray blanket on the brown sofa.", "scene_description": "A brown sofa with two patterned throw pillows and a gray blanket sits adjacent to a dark wooden countertop holding a yellow slipper, a spotted paper cup, and a foil tray; two orange armchairs are to the right of the sofa, and a white robotic arm is positioned on the right near the sofa.", "global_instruction_dense": "The right robotic arm moves left toward the yellow slipper on the dark wooden countertop, grasps it, lifts it, moves it right over the gray blanket on the brown sofa, lowers it, and releases it onto the blanket.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 381, "tasks": ["place clothing"], "length": 490, "global_instruction": "Place a yellow rubber glove from the sink onto the right edge of the sink", "scene_description": "A white kitchen sink under a window with white blinds holds two yellow rubber gloves, a purple plastic cup, and a small blue brush. Cleaning supplies are on the sink ledge, an open drawer sits to the right of the sink, and a robotic arm is positioned above the sink.", "global_instruction_dense": "The right robotic arm moves downward into the sink, grasps a yellow rubber glove, lifts it out of the sink, moves it to the right sink edge, adjusts its position on the edge, then releases the glove and retracts away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 382, "tasks": ["place clothing"], "length": 360, "global_instruction": "Pick up the yellow rubber glove inside the sink and place it on the right edge of the sink.", "scene_description": "A white sink contains a yellow rubber glove, a small purple cup, and a blue short brush. Another yellow rubber glove rests on the right edge of the sink. A silver faucet is mounted on the left tiled wall above the sink, with cleaning bottles on the sink ledge next to it. A window with white blinds is above the faucet, and a robotic arm is positioned at the top right near the sink.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow rubber glove inside the sink, grasps the glove, lifts it, moves it over the right edge of the sink, lowers it onto the edge, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 383, "tasks": ["place clothing"], "length": 371, "global_instruction": "Hang a yellow rubber glove on the sink faucet.", "scene_description": "A white sink contains a purple cup and a blue brush. Two yellow rubber gloves rest on the sink's right edge, a silver wall-mounted faucet is above the sink, and a window with blinds sits above the faucet, with a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm first adjusts the sink faucet to face into the sink, then moves to grasp a yellow rubber glove from the sink edge, lifts the glove, moves it to the faucet, hangs it on the faucet spout, and retracts away from the faucet.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 384, "tasks": ["place clothing"], "length": 761, "global_instruction": "Hang the yellow rubber gloves from the bathtub edge and inside the tub onto the bathtub faucet.", "scene_description": "A white bathtub with a purple cup and blue small brush inside sits under a window with blinds. One yellow rubber glove hangs on the silver wall-mounted faucet above the tub, another yellow rubber glove rests on the right edge of the tub. Toiletries are placed on the ledge next to the tub, and a robotic arm is positioned at the right side of the tub.", "global_instruction_dense": "The right robotic arm moves toward the yellow rubber glove on the right edge of the bathtub, grasps it, moves it toward the silver bathtub faucet, accidentally drops one glove into the bathtub, then moves down to grasp the dropped yellow glove from inside the tub, lifts it, and hangs it on the bathtub faucet alongside the existing glove.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 385, "tasks": ["place clothing"], "length": 464, "global_instruction": "Move the pair of yellow rubber gloves from the bathtub faucet to the edge of the bathtub.", "scene_description": "A white bathtub sits under a window with horizontal white blinds, a pair of yellow rubber gloves hangs on the silver wall-mounted bathtub faucet, a purple plastic cup and small blue brush are inside the bathtub, a robotic arm is positioned to the right of the bathtub, and cleaning supply bottles are on the ledge next to the faucet.", "global_instruction_dense": "The right robotic arm moves to grasp the pair of yellow rubber gloves hanging on the bathtub faucet, lifts them, moves them to the bathtub edge and releases them (one glove falls into the bathtub basin), then moves to grasp the yellow glove that fell into the basin, lifts it, moves it back to the bathtub edge, releases it, and moves away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 386, "tasks": ["place clothing"], "length": 269, "global_instruction": "Take the gray heat-resistant glove from the open wall cabinet and place it on the kitchen counter.", "scene_description": "A white microwave sits under an open light-colored wall cabinet on a white kitchen counter. A silver kettle rests on a yellow mat next to the sink, a small dark blue cup and clear glass are beside the microwave, and a gray heat-resistant glove hangs inside the open cabinet, with a right robotic arm positioned near the cabinet opening.", "global_instruction_dense": "The right robotic arm reaches into the open wall cabinet, grasps the gray heat-resistant glove by its hanging loop, pulls the glove out of the cabinet, moves it downward over the kitchen counter, and releases it onto the counter surface near the microwave.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 387, "tasks": ["place clothing"], "length": 294, "global_instruction": "Pick up the yellow rubber glove on the sink edge and hang it on the sink faucet.", "scene_description": "A kitchen sink area with a white sink holding a silver kettle and clear glass, yellow rubber gloves on the sink's left edge. A window with blinds is above the sink, the right counter has a dish rack, soap bottles, and a paper towel holder, with a robotic arm at the far right.", "global_instruction_dense": "The right robotic arm moves toward the yellow rubber glove on the left edge of the sink, grasps it, lifts and moves it to the metal sink faucet, then hangs the glove on the faucet.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 388, "tasks": ["place clothing"], "length": 278, "global_instruction": "Pick up the yellow rubber glove from the counter and hang it on the sink faucet.", "scene_description": "A kitchen sink area with a white sink under a window with white blinds, a yellow rubber glove on the sink faucet, another yellow rubber glove on the counter left of the sink, light gray cabinets left of the window, cleaning bottles next to the faucet, a dish rack on the counter right of the sink, and a white robotic arm on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves toward the yellow rubber glove on the counter left of the sink, grasps the glove, lifts it, moves it to the sink faucet, hangs the glove on the faucet, then releases the glove and moves back to the right.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 389, "tasks": ["place clothing"], "length": 196, "global_instruction": "Pick the blue rubber gloves from the sink faucet and place them into the dish rack", "scene_description": "A kitchen counter features a white sink, with blue rubber gloves hanging on the black faucet, an orange-labeled soap bottle left of the sink, an orange cup and purple plate on the left counter edge, a dish rack with a glass lid on the right counter, and a white potted plant on the window sill above the sink.", "global_instruction_dense": "The right robotic arm moves from the upper right toward the blue rubber gloves hanging on the sink faucet, grasps and lifts the gloves off the faucet, moves rightward toward the dish rack, and places the gloves into the dish rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 390, "tasks": ["place clothing"], "length": 147, "global_instruction": "Take the white clothing from the open dresser drawer and place it onto the plaid bed.", "scene_description": "A bedroom with dark gray walls and wooden flooring has two beds on the left: one with dark navy bedding and a white pillow, another in front with a blue-yellow-gray plaid bedspread. A dark chest of drawers with an open top drawer holding light clothing is on the right, with a robotic arm positioned over the drawer, and a window on the back wall between the beds and dresser.", "global_instruction_dense": "The right robotic arm moves into the open top dresser drawer, grasps a white clothing item, lifts it out of the drawer, moves it left over the plaid bed, and releases it to drop onto the bed.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 391, "tasks": ["place clothing"], "length": 254, "global_instruction": "Take a light-colored garment from the open dresser drawer and place it on the plaid bed.", "scene_description": "A bedroom has two beds: a rear bed with black bedding and a white pillow at left, a closer bed with yellow, blue, and gray plaid bedding with a white cloth on it in the foreground. To the right is a black dresser with an open drawer holding light garments, a glass cup, and a black device on its surface, a window on the back gray wall, wooden flooring, and a painting on the right wall.", "global_instruction_dense": "The right robotic arm moves toward the open black dresser drawer, grasps a light-colored garment from inside the drawer, lifts the garment, moves it left over the yellow-blue-gray plaid bed, lowers it, and releases it onto the bed.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 392, "tasks": ["place clothing"], "length": 272, "global_instruction": "Fold the light grey shirt on the small table and place it onto the bed.", "scene_description": "A small light wood square table sits on a yellow, grey, and black plaid bed. A light grey shirt lies on the table, and extra light grey fabric, a remote, a hanger, and a pillow are on the bed. A window, dark dresser, and robotic arm are in the background.", "global_instruction_dense": "The right robotic arm moves toward the light grey shirt on the small table, grasps its edge to fold the shirt, lifts the folded shirt, moves it over the bed, releases it onto the bed, then moves back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 393, "tasks": ["place clothing"], "length": 190, "global_instruction": "Place the shoe next to the white plastic cup on the table.", "scene_description": "A black bucket, a brown tennis racket, a white frosted plastic cup, and a gray cloth are placed on a dark table. The bucket is on the left, the tennis racket leans against the bucket, the cup sits to the right of the racket, and the right robotic arm is positioned above the cup.", "global_instruction_dense": "The right robotic arm moves leftward from its initial position above the white cup, grasps the shoe, lifts it, moves it rightward toward the cup, lowers it, and places it on the table adjacent to the white cup.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 394, "tasks": ["place clothing"], "length": 176, "global_instruction": "Lift and reposition the light gray shirt on the wooden table.", "scene_description": "A wooden table next to a plaid-patterned bed holds a beige-shaded black table lamp (left), a black remote, and a pile of light gray shirt. A white robotic arm with green base lights is positioned to the right of the table, with a dark speaker and blinds-covered window in the dark background.", "global_instruction_dense": "The right robotic arm moves toward the light gray shirt on the table, grasps its corner, lifts the shirt upward, moves the lifted portion, then lowers the shirt back onto the table and releases it.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 395, "tasks": ["place clothing"], "length": 261, "global_instruction": "Place the light-colored socks from the couch into the white laundry basket.", "scene_description": "A white plastic laundry basket sits on a blue-and-beige plaid couch. A lit table lamp is next to the white-blinded window left of the basket, a bicycle leans against the wall behind the couch, and orange fabric rests on the right side of the couch.", "global_instruction_dense": "The right robotic arm descends to grasp light-colored socks from the couch one at a time, lifts each sock, moves it over the white laundry basket, drops it into the basket, then lifts away after placing both socks.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 396, "tasks": ["place clothing"], "length": 169, "global_instruction": "Place the slipper into the plastic-lined trash bin", "scene_description": "A light grey trash bin lined with a white plastic bag sits on a wooden table, a white robotic arm base is to the right of the bin, a shoe rack with footwear is on the left of the table, and a door with hanging coats is in the background.", "global_instruction_dense": "The left robotic arm holds a slipper, moves over the trash bin, lowers the slipper into the bin, releases it, then lifts upward away from the bin.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 397, "tasks": ["place clothing"], "length": 180, "global_instruction": "Pick a white striped shirt on a hanger from the closet rod and place it into the laundry basket.", "scene_description": "In a bedroom, a white plastic laundry basket with gray clothing inside sits at the entrance of an open closet that has empty hangers on its upper hanging rod. A robotic arm is positioned near the top right of the closet, and a bed with blue and white checkered bedding is visible to the right of the closet near a window, with tiled flooring.", "global_instruction_dense": "The right robotic arm moves toward the closet rod, grasps a hanger holding a white striped shirt, lowers it over the laundry basket, releases the shirt into the basket, then moves back up toward the closet.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 398, "tasks": ["place clothing"], "length": 138, "global_instruction": "Pick up the white sock and place it on the grey table mat.", "scene_description": "A window with white horizontal blinds is on the left, a wooden table with a grey textured mat sits below it, a light blue box with a black top is on the mat center, a partial white sock is at the bottom left, and a wall-mounted black camera arm is on the right wall.", "global_instruction_dense": "The left robotic arm enters the frame from the upper left, descends to grasp the white sock at the bottom left, lifts it, moves it over the grey table mat, and releases it onto the mat.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 399, "tasks": ["place clothing"], "length": 314, "global_instruction": "Pick up the white t-shirt from the table and place it into the basket.", "scene_description": "A white basket with black rim sits on a dark table, a white t-shirt lies left of the basket, a white speaker is near yellow curtains by the window, a TV and game boxes are on the left, and a brown couch is on the right.", "global_instruction_dense": "The left robotic arm moves down toward the white t-shirt on the table, grasps it, lifts it, moves it over the basket, and releases it onto the edge of the basket.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 400, "tasks": ["place clothing"], "length": 172, "global_instruction": "Remove a shoe from the mesh basket and place it on the white wire rack.", "scene_description": "A dark grey mesh basket with a red base sits on a white cloth-covered bed. A white wire rack is to the left of the basket, a wooden bunk bed is on the room's left, a brown sofa is on the right, and a robotic arm is at the frame's right edge.", "global_instruction_dense": "The right robotic arm moves left toward the dark grey mesh basket, reaches inside to grasp a brown shoe, lifts the shoe out of the basket, moves left to position over the white wire rack, lowers and releases the shoe onto the rack's top shelf, then retracts its gripper away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 401, "tasks": ["place clothing"], "length": 262, "global_instruction": "Pick up the white T-shirt on the lower bunk bed and place it on the two-tier wire rack.", "scene_description": "A wooden bunk bed with a grey and white stone-patterned bedspread on its lower tier, a two-tier white wire rack placed on the lower bed, a wicker basket at the foot of the lower bed, a white T-shirt lies on the left of the wire rack, a white robotic arm is positioned on the right, and an open closet is in the background.", "global_instruction_dense": "The right robotic arm moves left toward the white T-shirt on the lower bunk bed, grasps it with its gripper, lifts it, moves rightward over the two-tier white wire rack, then releases it onto the top tier of the wire rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 402, "tasks": ["place clothing"], "length": 303, "global_instruction": "Pick up the white t-shirt from the lower clothing rack bar and hang it on the upper clothing rack bar", "scene_description": "A silver clothing rack holds a white t-shirt and dark jacket on its lower bar, next to a brown couch with striped and wavy-patterned throw pillows, a small dark side table by a window with yellow curtains, and a white robotic arm is positioned on the right.", "global_instruction_dense": "The right robotic arm moves toward the white t-shirt on the lower bar of the silver clothing rack, grasps the t-shirt, lifts it upward, positions it over the upper rack bar, places the t-shirt on the upper bar, and releases it to finish hanging.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 403, "tasks": ["place clothing"], "length": 258, "global_instruction": "Hang the dark grey jacket onto the upper bar of the metal clothing rack.", "scene_description": "A brown sofa with two cushions (one grey striped, one beige with brown wavy pattern) is against a white wall next to a brown curtain. A metal clothing rack, a dark grey jacket on a lower stand, and a small table holding a water bottle, yellow book, and orange item are in the foreground, with a white robotic arm on the right of the frame.", "global_instruction_dense": "The right robotic arm moves downward to grasp the dark grey jacket, lifts it upward to the upper bar of the metal clothing rack, positions the jacket on the bar, releases its gripper, and moves away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 404, "tasks": ["place clothing"], "length": 199, "global_instruction": "Place the hanging floral-patterned garment onto the empty clothes hanger below it.", "scene_description": "A light floral-patterned garment hangs on the left clothing rack, a dark garment hangs adjacent to it, a white empty clothes hanger is positioned below the garments, a robotic arm sits on the right, and a brown couch with a wavy-patterned pillow is in the background near a window with blinds.", "global_instruction_dense": "The right robotic arm moves toward the floral-patterned garment hanging on the left rack, grasps the garment, pulls it off the rack, moves it downward toward the empty white clothes hanger, and places the garment onto the hanger.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 405, "tasks": ["place clothing"], "length": 253, "global_instruction": "Move the dark hanging jacket to a new position on the clothing rack.", "scene_description": "A dark jacket hangs on a metal clothing rack, a white plastic clothes hanger sits below the rack, a window with closed light-colored blinds is on the left, a couch with a wavy-patterned cushion is in the background, and a robotic arm is positioned on the right.", "global_instruction_dense": "The right robotic gripper moves toward the dark jacket hanging on the clothing rack, grasps it, shifts it rightward to a new position on the rack, then releases the jacket and moves away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 406, "tasks": ["place clothing"], "length": 225, "global_instruction": "Pick up the dark garment and hang it on the clothing rack.", "scene_description": "A white robotic arm is on the right side, a metal clothing rack with empty hangers sits on the left next to a bright softbox light, a dark garment lies near a sofa with a patterned cushion in the background.", "global_instruction_dense": "The right robotic arm moves downward to grasp the dark garment, lifts it, moves it to the left clothing rack, hangs it on the rack's hanger, then releases the garment and moves away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 407, "tasks": ["place clothing"], "length": 310, "global_instruction": "Pick up the light blue face mask from the door handle and place it on top of the brown cabinet.", "scene_description": "A white interior door is on the left, a light blue face mask hangs on the door handle, a brown wooden cabinet sits to the right of the door, and a white robotic arm is positioned on the far right of the scene.", "global_instruction_dense": "The left robotic arm moves left toward the door handle, grasps the light blue face mask, removes it from the handle, lifts it, moves it right over the brown cabinet, lowers it to place it on the cabinet top, then retracts back to its original position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 408, "tasks": ["place clothing"], "length": 372, "global_instruction": "Pick up the purple hat near the white door and place it on top of the brown cabinet.", "scene_description": "A white interior door is on the left, a tall brown wooden cabinet stands against a purple wall to the door's right, a purple hat is near the door handle, and a white robotic arm is on the right side of the scene.", "global_instruction_dense": "The right robotic arm grasps the purple hat near the white door handle, lifts it upward, moves it rightward over the top of the brown cabinet, lowers the hat onto the cabinet surface, releases the hat, and moves away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 409, "tasks": ["place clothing"], "length": 407, "global_instruction": "Hang the gray hat from the brown cabinet onto the white door's lock fixture.", "scene_description": "A white interior door with a metal lock is on the left, a white robotic arm is positioned to the right of the door, a brown cabinet with a gray hat on top stands behind the arm, and the background is a purple-walled living room.", "global_instruction_dense": "The robotic arm moves right from near the door to the brown cabinet top, grasps the gray hat, lifts it, moves left to the door, hangs the hat on the door's lock, then releases the hat and moves back to its starting position near the door.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 410, "tasks": ["place clothing"], "length": 388, "global_instruction": "Pick the dark purple hat from the door handle and place it on top of the brown cabinet.", "scene_description": "A white interior door is on the left, a dark purple hat hangs on the door's handle, a brown cabinet stands against a purple wall next to the door, and a white robotic arm is positioned to the right of the door.", "global_instruction_dense": "The right robotic arm moves towards the dark purple hat hanging on the door handle, grasps the hat, lifts it off the handle, moves it over the adjacent brown cabinet, lowers it onto the cabinet surface, and releases the gripper to place the hat.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 411, "tasks": ["place clothing"], "length": 482, "global_instruction": "Hang the purple hat on a metal hanger from the cabinet onto the door hook.", "scene_description": "A white interior door is on the left, a wooden cabinet stands adjacent to the door against a purple wall, a purple hat on a metal clothes hanger rests on the cabinet top, and a white robotic arm is positioned near the door on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves from near the door toward the purple hat on the wooden cabinet, grasps the hat's metal hanger, lifts the hat, moves it toward the hook on the white door, places the hanger over the hook, releases the hanger to hang the hat, and moves away from the door.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 412, "tasks": ["place clothing"], "length": 449, "global_instruction": "Pick the purple hat from the door handle and place it on top of the brown cabinet.", "scene_description": "A white door is on the left, a purple hat hangs on the door's lock, a dark brown wooden cabinet is against the purple wall to the door's right, and a white robotic arm is positioned to the cabinet's right.", "global_instruction_dense": "The right robotic arm moves left toward the purple hat hanging on the door handle, grasps the hat, lifts it, moves right to the top of the brown wooden cabinet, lowers the hat, and releases it onto the cabinet surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 413, "tasks": ["place clothing"], "length": 327, "global_instruction": "Hang the black hat from the cabinet onto the white door hook", "scene_description": "A white door is on the left, a brown wooden cabinet stands against a purple wall to the door's right, a black hat rests on the cabinet top, and a white robotic arm is positioned on the right of the scene.", "global_instruction_dense": "The right robotic arm moves toward the black hat on the brown cabinet, grasps the hat, lifts it, moves leftward to the hook on the white door, hangs the hat on the hook, then releases its gripper and moves away from the door.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 414, "tasks": ["place clothing"], "length": 329, "global_instruction": "Pick up the checkered hat hanging on the lower cabinet and place it on top of the cabinet.", "scene_description": "A white door is on the left, a brown wooden cabinet stands against the purple wall, a black-and-white checkered hat hangs on the lower front of the cabinet, musical instruments hang on the wall above the cabinet, and a living area with a couch is visible in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the checkered hat hanging on the lower front of the cabinet, grasps the hat, lifts it upward, moves it to the top of the cabinet, and places it near the hanging musical instruments.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 415, "tasks": ["place clothing"], "length": 475, "global_instruction": "Pick up the black and white checkered hat from the brown cabinet and place it on the floor near the white door.", "scene_description": "A black and white checkered hat rests on top of a brown wooden cabinet against a purple wall, with a white door to the left of the cabinet and a white robotic arm to the right of the cabinet, with a living area in the background.", "global_instruction_dense": "The right robotic arm moves toward the black and white checkered hat on the brown cabinet, grasps the hat, lifts it, moves it down to the floor near the white door, releases the hat onto the floor, then returns to its initial position near the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 416, "tasks": ["place clothing"], "length": 313, "global_instruction": "Hang the black and white checkered hat on the wall-mounted coat hanger on the purple wall.", "scene_description": "A white door is on the left, a purple wall with a wall-mounted coat hanger above a brown wooden cabinet, a black and white checkered hat is near the door, a white robotic arm is positioned to the right of the cabinet, and living room furniture is in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the black and white checkered hat near the white door, grasps the hat with its gripper, lifts the hat upward to the wall-mounted coat hanger on the purple wall, places the hat on the hanger, and releases its gripper.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 417, "tasks": ["place clothing"], "length": 364, "global_instruction": "Pick up the black-and-white checkered hat from the cabinet and place it on the white door.", "scene_description": "A white door is on the left, a brown wooden cabinet stands against the purple wall, a black-and-white checkered hat rests on the cabinet top, and a right robotic arm is positioned near the cabinet lower part.", "global_instruction_dense": "The right robotic arm moves upward toward the checkered hat on the cabinet, grasps it, lifts it, moves left to the white door, places the hat on the door, releases it, then moves back toward the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 418, "tasks": ["place clothing"], "length": 254, "global_instruction": "Pick up the black and white checkered hat and place it on top of the brown cabinet.", "scene_description": "A white door is on the left, a purple wall with a white light switch, a dark brown wooden cabinet against the wall, string instruments hung on the wall above the cabinet, a black and white checkered hat near the door, and a robotic arm positioned near the cabinet.", "global_instruction_dense": "The right robotic arm moves downward toward the checkered hat near the door, grasps it with its gripper, lifts it, moves it over the brown cabinet, lowers it, and places it on top of the cabinet next to the hanging instruments.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 419, "tasks": ["place clothing"], "length": 446, "global_instruction": "Pick the checkered hat from the cabinet and hang it on the hook of the white door.", "scene_description": "A black-and-white checkered hat rests on top of a brown cabinet next to a white door, with a living room area visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the black-and-white checkered hat on the brown cabinet, grasps it, lifts it, moves it to the hook on the adjacent white door, hangs the hat on the hook, releases the hat, then moves back to its original position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 420, "tasks": ["place clothing"], "length": 257, "global_instruction": "Place the gray slipper onto the top of the brown wooden cabinet.", "scene_description": "A brown wooden cabinet with a silver metal bowl on its top sits against a purple wall, multiple string instruments hang on the wall to the right of the cabinet, and a white robotic arm is positioned on the right side of the frame with a couch and lamp in the background.", "global_instruction_dense": "The right robotic arm moves downward to grasp a gray slipper from the lower area near the cabinet, lifts the slipper, moves it toward the top of the brown wooden cabinet, and releases it next to the silver bowl on the cabinet top.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 421, "tasks": ["place clothing"], "length": 332, "global_instruction": "Remove the white polo shirt from the hanger, place it on the brown chair, and return the empty hanger.", "scene_description": "Multiple shirts of various colors hang inside a white closet, a white cabinet below the clothes holds a red-and-black book and a small black container, a brown chair sits in front of the cabinet, a right robotic gripper holds a hanger with a white polo shirt (black collar) in front of the closet, and a room with wooden floor, white desk and dark curtains is in the background.", "global_instruction_dense": "The right robotic gripper moves the hanger with the white polo shirt forward to the front of the closet, pulls the shirt off the hanger, drops the shirt onto the brown chair, then moves the empty hanger back toward the closet.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 422, "tasks": ["place clothing"], "length": 503, "global_instruction": "Hang the white polo shirt with black collar on the wardrobe's garment hanging rack.", "scene_description": "A wardrobe with multiple hanging garments is on the left, a white cabinet with a black cylindrical container and a red book sits inside the wardrobe, a white polo shirt with black collar on a wooden hanger rests on a brown chair in front of the wardrobe, and a robotic arm is positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the white polo shirt on the brown chair, grasps its wooden hanger, lifts the shirt, moves it to the wardrobe's hanging rack, places the hanger onto the rack, releases the hanger, and retracts away from the wardrobe.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 423, "tasks": ["place clothing"], "length": 406, "global_instruction": "Hang the white polo shirt with black collar on the wardrobe's right inner hook.", "scene_description": "An open wardrobe has various shirts hanging on its left rod, a white shelf inside the wardrobe holds a black bottle and a red-covered book, a brown chair sits in front of the wardrobe, and a metal hook is on the wardrobe's right inner panel.", "global_instruction_dense": "The right robotic gripper carries a white polo shirt with black collar into the wardrobe, aligns the shirt with the hook on the wardrobe's right panel, hangs the shirt on the hook, releases the shirt, and moves away from the wardrobe.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 424, "tasks": ["place clothing"], "length": 418, "global_instruction": "Hang the white polo shirt with black collar onto the wardrobe's hanging rod.", "scene_description": "An open wardrobe with various hanging garments, a white interior shelf holding a black container and red book, a white polo shirt with black collar on a wooden hanger below the shelf, and a robotic arm to the right of the wardrobe, with wooden flooring in the background.", "global_instruction_dense": "The right robotic arm moves toward the wooden hanger holding the white polo shirt, grasps the hanger, lifts the shirt, moves it toward the wardrobe's hanging rod, hangs the hanger on the rod, then releases the hanger and retracts away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 425, "tasks": ["place clothing"], "length": 475, "global_instruction": "Place the white polo shirt from the wardrobe onto the brown seat.", "scene_description": "A wardrobe with multiple hanging shirts stands on the left, a white shelf below the shirts holds a black container and a red cover book. A robotic arm is positioned at the right of the wardrobe, a brown seat is in the foreground, and a desk with dark curtains is in the background.", "global_instruction_dense": "The right robotic arm moves left into the wardrobe, grasps the hanger holding the white polo shirt, pulls the shirt out of the wardrobe, lowers it over the brown seat, releases the hanger to drop the shirt onto the seat, then retracts to the right side.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 426, "tasks": ["place clothing"], "length": 364, "global_instruction": "Hang the white polo shirt with black trim on its hanger inside the wardrobe", "scene_description": "An open white wardrobe holds various colored hanging shirts, a white shelf inside it has a black cylindrical container and a red book. A white polo shirt with black trim on a wooden hanger rests on a white surface to the wardrobe's right, with a wooden floor and blue partition in the background.", "global_instruction_dense": "The right robotic arm moves toward the wooden hanger holding the white polo shirt, grasps the hanger, lifts the shirt, moves it into the wardrobe, hangs the hanger on the wardrobe's rod, then releases the hanger and moves away.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 427, "tasks": ["place clothing"], "length": 239, "global_instruction": "Hang the white short-sleeved shirt with black cuffs on the wardrobe hanging rod", "scene_description": "A right robotic gripper is positioned at the top right next to an open wardrobe with multiple hanging garments (watermelon-patterned, red checkered, pink fabrics). A white table below holds a printed magazine and wooden hangers, with a blue bedroom with wooden flooring and dark curtains in the background.", "global_instruction_dense": "The right robotic gripper moves upward to grasp the white short-sleeved shirt with black cuffs, carries it to the wardrobe's horizontal hanging rod, places the shirt onto the rod, then releases the shirt.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 428, "tasks": ["place clothing"], "length": 153, "global_instruction": "Secure the wooden hanger holding the white polo shirt properly onto the closet's hanging hook.", "scene_description": "A white closet rod holds multiple hanging shirts, a white polo shirt with black collar on a wooden hanger hangs on a closet side hook, and a blue-walled bedroom with a bed and dark curtains is in the background.", "global_instruction_dense": "The right robotic gripper moves from the right side toward the wooden hanger holding the white polo shirt, grasps the hanger, lifts and adjusts it to hook securely onto the closet hook, then releases the hanger and moves back away from the closet.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 429, "tasks": ["place clothing"], "length": 314, "global_instruction": "Hang the orange watermelon-patterned shirt onto the closet's clothing rod.", "scene_description": "A closet with white shelves and a clothing rod holding multiple hanging garments, including a prominent short-sleeve shirt printed with orange watermelon slices on a wooden hanger, a white and black robotic arm is positioned at the right edge of the frame outside the closet.", "global_instruction_dense": "The right robotic arm moves toward the wooden hanger holding the orange watermelon-patterned shirt, grasps the hanger, lifts the shirt, moves to the closet's clothing rod, hooks the hanger onto the rod, then releases the hanger and retracts.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 430, "tasks": ["place clothing"], "length": 439, "global_instruction": "Move the red watermelon-patterned shirt to a new position on the closet's hanging rod.", "scene_description": "A white open closet is visible, with three upper shelves holding assorted items, a lower hanging rod with multiple hung garments including a red watermelon-patterned shirt, a grey baseball cap resting on the red shirt, and a white robotic gripper positioned at the bottom right of the frame.", "global_instruction_dense": "The right robotic gripper moves upward toward the hanger of the red watermelon-patterned shirt in the closet, grasps the hanger, moves the hanger and attached shirt leftward along the hanging rod, then releases the hanger to set the shirt in its new position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 431, "tasks": ["place clothing"], "length": 1176, "global_instruction": "Reposition the left black glove on the table closer to the right black glove.", "scene_description": "A light wooden table holds two black gloves, an oats carton, a small white bowl with grain, pink sticky notes, pens, and small miscellaneous items. A white robotic arm is positioned to the left of the table, with an office kitchen (wooden cabinets, stainless steel fridge, microwave, stove) in the background.", "global_instruction_dense": "The right robotic arm reaches toward the left black glove on the wooden table, grasps and lifts it, adjusts its orientation multiple times, and repositions it on the table near the right black glove.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 432, "tasks": ["place clothing"], "length": 668, "global_instruction": "Pick up the rightmost black glove and place it next to the left black glove on the table.", "scene_description": "A light wooden kitchen table holds two black gloves, a small white bowl of food, a white Oats carton, a dark gray water bottle, a pink notepad, and black pens. The background has wooden upper cabinets, a stainless steel double-door refrigerator, a microwave, and a counter with a small orange pumpkin and cups. A white robotic arm is positioned to the left of the table above its surface.", "global_instruction_dense": "The right robotic arm moves toward the rightmost black glove on the table, grasps it with its gripper, lifts and adjusts the glove while moving leftward, then releases it to place it next to the other black glove on the table before moving back.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 433, "tasks": ["place clothing"], "length": 798, "global_instruction": "Manipulate the black garment and place it atop the purple cloth on the table.", "scene_description": "A wooden table is situated in a kitchen, with a purple cloth, a gray cloth resting on the purple cloth, a black garment with white text positioned to their right, aluminum foil trays on the left side of the table, yellow notebooks on the right side of the table, and a white robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm first stays stationary, then moves toward the black garment on the table, grasps and lifts it, adjusts its position multiple times, lowers it onto the purple cloth, releases it, and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 434, "tasks": ["place clothing"], "length": 3410, "global_instruction": "Move each garment on the table to the left side next to the folded gray clothing.", "scene_description": "A wooden kitchen table holds three visible garments: a folded gray garment (leftmost), a purple short-sleeve t-shirt, and a dark blue-green plaid shirt. A white left robotic arm with a blue end effector is positioned above the table. The background has upper wooden cabinets, a stainless steel refrigerator, microwave, stove, sink area, and three wooden stools to the left of the table.", "global_instruction_dense": "The left robotic arm grasps the black garment under the plaid shirt, lifts and places it next to the folded gray garment, then grasps the dark blue-green plaid shirt, lifts and places it next to the black garment, then adjusts and moves the purple t-shirt left toward the group of garments, then grasps the red shirt, lifts and places it near the other garments on the left side of the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 435, "tasks": ["place clothing"], "length": 447, "global_instruction": "Move the dark green plaid shirt to the left side of the table near the gray clothing.", "scene_description": "A light wooden table holds multiple clothing items: a folded gray piece, a black piece, a dark green plaid piece, a purple piece, and a red piece. A white robotic arm is positioned at the left of the camera view, with a kitchen area with wooden cabinets, microwave, and stainless steel refrigerator in the background.", "global_instruction_dense": "The left robotic arm moves toward the dark green plaid shirt on the right section of the wooden table, grasps it with its gripper, lifts and transports it leftward to the area next to the folded gray clothing, releases the shirt onto the table, and then moves its gripper away from the table surface.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 436, "tasks": ["place clothing"], "length": 2513, "global_instruction": "Reposition the black t-shirt on the light wooden table multiple times while the small plate remains on top of the t-shirt.", "scene_description": "A white and grey robotic arm is positioned to the left of a light wooden table, where a black t-shirt lies flat with a small round plate holding assorted small items resting on the center of the t-shirt; the background is a kitchen area with brown upper cabinets, a stainless steel double-door refrigerator, microwave, stove, and two people standing near the refrigerator.", "global_instruction_dense": "The right robotic gripper of the white and grey robotic arm repeatedly grasps the edge of the black t-shirt on the wooden table, lifts a section of the t-shirt, shifts the t-shirt to a new position on the table, and releases the t-shirt fabric, with the small plate of items staying on the t-shirt during all repositioning actions.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 437, "tasks": ["place clothing"], "length": 2792, "global_instruction": "Pick up the black glove near the robotic arm and place it on the table close to the other black glove.", "scene_description": "A white robotic arm with grey joints is positioned above a light wooden kitchen table. On the table, a black glove with a grey palm sits near the robotic arm, another identical black glove is on the right side of the table, stacked light blue cups, a folded dark blue cloth, and orange fruits are also present. Wooden cabinets, a stainless steel refrigerator, microwave, and stove are visible in the background.", "global_instruction_dense": "The right robotic gripper moves toward the black glove with a grey palm near it on the wooden table, grasps the glove, lifts and carries it across the table, lowers and releases it on the table near the other black glove, then retracts away from the placed glove.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 438, "tasks": ["place clothing"], "length": 729, "global_instruction": "Pick up the black glove on the table and place it next to the olive-green glove.", "scene_description": "A wooden table in a kitchen-style workspace holds two gloves: an olive-green glove on the left of the tabletop, a black glove to its right, alongside stacked light blue cups and folded fabrics, with a white robotic arm equipped with a blue gripper positioned above the table.", "global_instruction_dense": "The right robotic arm with a blue gripper moves toward the black glove on the wooden table, grasps it, lifts and moves it left to release it beside the olive-green glove, then repositions to grasp the glove again, lifts and releases it to rest neatly beside the olive-green glove, before retracting to a neutral position.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 439, "tasks": ["place clothing"], "length": 946, "global_instruction": "Place the white folded shirt and black printed t-shirt on the table into the white fabric tote bag.", "scene_description": "A light wooden table in a kitchen holds a white fabric tote bag on its left, a stack of folded white shirts and a black printed t-shirt to the tote's right, a container of colorful toy produce and stacked cups further left, with kitchen cabinets, a stainless steel refrigerator, microwave, and oven in the background, and the right robotic arm positioned above the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the stack of white shirts on the table, grasps a white folded shirt, lifts it, moves it over the white tote bag, releases it into the bag, then moves toward the black printed t-shirt, grasps it, lifts it, moves it over the tote bag, and releases it into the bag.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
+{"episode_index": 440, "tasks": ["place clothing"], "length": 420, "global_instruction": "Pick up the yellow gloves from the yellow plastic box and place them on the table next to the green bowl.", "scene_description": "A white robotic arm with black joints is positioned at the left of a light wooden table. On the table are a red tool, green bowl, yellow plastic box with yellow gloves on top, silver clip, purple pump bottle, brown woven basket, dark sealable glass jar, and large brown cardboard box on the far right.", "global_instruction_dense": "The left robotic gripper moves toward the yellow gloves resting on the yellow plastic box, grasps the gloves, lifts them, moves to the open table space adjacent to the green bowl, lowers the gloves, releases them onto the table, then lifts its gripper and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "clothing", "object_category": "Deformable Fabrics & Apparel"}
diff --git a/datasets/droid/data/place__clothing/meta/episodes_stats.jsonl b/datasets/droid/data/place__clothing/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d5f8e86d1c132f75ad97b6b8c20fe848bf748b4d
--- /dev/null
+++ b/datasets/droid/data/place__clothing/meta/episodes_stats.jsonl
@@ -0,0 +1,441 @@
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diff --git a/datasets/droid/data/place__clothing/meta/info.json b/datasets/droid/data/place__clothing/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac07b9fa9f1db809bb96b98bd7bb63ad9d2cd7b0
--- /dev/null
+++ b/datasets/droid/data/place__clothing/meta/info.json
@@ -0,0 +1,255 @@
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+  },
+  "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__clothing/meta/stats.json b/datasets/droid/data/place__clothing/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dff0a08aa117ea38d8aa684ee600eb6a507d7c9
--- /dev/null
+++ b/datasets/droid/data/place__clothing/meta/stats.json
@@ -0,0 +1,761 @@
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