{
  "schema": "programvla/current-instruction-audit/1",
  "panel": "plus",
  "family": "task12",
  "version": "plus-rle-instructions-v2",
  "created_at": "2026-11-03T21:51:32.903859+00:00",
  "rle_snapshot_kind": "current working tree, including uncommitted instruction revisions",
  "comparison_basis": "Pinned upstream full_description versus the current RLE goal template. Runtime wording varies; full native pools and recorded episode text are provided separately.",
  "historical_note": "Current Kinex episodes use the revised RLE goals. Retained VLA episodes and archived Kinex episodes use original native language; their measured instructions remain unchanged. Select a recorded episode below to inspect its actual instruction policy.",
  "families": [
    {
      "id": "demo_background_plus",
      "name": "Background Plus"
    },
    {
      "id": "demo_camera",
      "name": "Camera"
    },
    {
      "id": "demo_clean",
      "name": "Clean"
    },
    {
      "id": "demo_language_plus",
      "name": "Language Plus"
    },
    {
      "id": "demo_light",
      "name": "Light"
    },
    {
      "id": "demo_objects_plus",
      "name": "Objects Plus"
    },
    {
      "id": "demo_robot_state",
      "name": "Robot State"
    },
    {
      "id": "demo_vision_noise",
      "name": "Vision Noise"
    }
  ],
  "tasks": [
    {
      "key": "task12/01-background-plus-handover-block",
      "id": "robotwin-plus/handover-block-aloha-agilex-background-plus",
      "title": "Handover block",
      "native_task": "handover_block",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "use the left arm to grasp the red block on the table, handover it to the right arm and place it on the blue pad",
      "measured": "use the left arm to grasp the red block on the table, hand it over to the right arm, and set it down in the center of the blue pad. Release it with the right gripper open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/handover_block",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/handover_block.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_block.py",
      "catalog_path": "tasks/task12/catalog/01-background-plus-handover-block/task.yaml",
      "catalog_sha256": "58b31749c9cd7a2ac61105cdb7b25db9e924e781ca34e0ac2863b7937f9dca37",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/01",
      "notes": [
        "Makes central placement on the pad and release with the right gripper explicit."
      ]
    },
    {
      "key": "task12/01-camera-handover-block",
      "id": "robotwin-plus/handover-block-aloha-agilex-camera",
      "title": "Handover block",
      "native_task": "handover_block",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "use the left arm to grasp the red block on the table, handover it to the right arm and place it on the blue pad",
      "measured": "use the left arm to grasp the red block on the table, hand it over to the right arm, and set it down in the center of the blue pad. Release it with the right gripper open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/handover_block",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/handover_block.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_block.py",
      "catalog_path": "tasks/task12/catalog/01-camera-handover-block/task.yaml",
      "catalog_sha256": "d12951338fab5c2ef624773c74c8655f66101ea1310cc4b3afe9d4862435bb5d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/01",
      "notes": [
        "Makes central placement on the pad and release with the right gripper explicit."
      ]
    },
    {
      "key": "task12/01-clean-handover-block",
      "id": "robotwin-plus/handover-block-aloha-agilex-clean",
      "title": "Handover block",
      "native_task": "handover_block",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "use the left arm to grasp the red block on the table, handover it to the right arm and place it on the blue pad",
      "measured": "use the left arm to grasp the red block on the table, hand it over to the right arm, and set it down in the center of the blue pad. Release it with the right gripper open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/handover_block",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/handover_block.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_block.py",
      "catalog_path": "tasks/task12/catalog/01-clean-handover-block/task.yaml",
      "catalog_sha256": "123e428e58ea8fba3a0b5eeb5fa78ef5ce2b506d98793311bfaa99d0e7bead04",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/01",
      "notes": [
        "Makes central placement on the pad and release with the right gripper explicit."
      ]
    },
    {
      "key": "task12/01-language-plus-handover-block",
      "id": "robotwin-plus/handover-block-aloha-agilex-language-plus",
      "title": "Handover block",
      "native_task": "handover_block",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "use the left arm to grasp the red block on the table, handover it to the right arm and place it on the blue pad",
      "measured": "use the left arm to grasp the red block on the table, hand it over to the right arm, and set it down in the center of the blue pad. Release it with the right gripper open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/handover_block",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/handover_block.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_block.py",
      "catalog_path": "tasks/task12/catalog/01-language-plus-handover-block/task.yaml",
      "catalog_sha256": "6f8479f7ecf73dd12250ae6651ee5ec6a29c5ee93a5ca9539c65842ee2323cd2",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/01",
      "notes": [
        "Makes central placement on the pad and release with the right gripper explicit.",
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/01-light-handover-block",
      "id": "robotwin-plus/handover-block-aloha-agilex-light",
      "title": "Handover block",
      "native_task": "handover_block",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "use the left arm to grasp the red block on the table, handover it to the right arm and place it on the blue pad",
      "measured": "use the left arm to grasp the red block on the table, hand it over to the right arm, and set it down in the center of the blue pad. Release it with the right gripper open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/handover_block",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/handover_block.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_block.py",
      "catalog_path": "tasks/task12/catalog/01-light-handover-block/task.yaml",
      "catalog_sha256": "16a41834f3a39415b58c81563c5b386e4a1d5e582f5420cd75113b4f27c58329",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/01",
      "notes": [
        "Makes central placement on the pad and release with the right gripper explicit."
      ]
    },
    {
      "key": "task12/01-objects-plus-handover-block",
      "id": "robotwin-plus/handover-block-aloha-agilex-objects-plus",
      "title": "Handover block",
      "native_task": "handover_block",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "use the left arm to grasp the red block on the table, handover it to the right arm and place it on the blue pad",
      "measured": "use the left arm to grasp the red block on the table, hand it over to the right arm, and set it down in the center of the blue pad. Release it with the right gripper open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/handover_block",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/handover_block.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_block.py",
      "catalog_path": "tasks/task12/catalog/01-objects-plus-handover-block/task.yaml",
      "catalog_sha256": "462fc5ad9835eaa87b34caca21b1eca14a443c8dc85136d19b45cd56aeb427d6",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/01",
      "notes": [
        "Makes central placement on the pad and release with the right gripper explicit."
      ]
    },
    {
      "key": "task12/01-robot-state-handover-block",
      "id": "robotwin-plus/handover-block-aloha-agilex-robot-state",
      "title": "Handover block",
      "native_task": "handover_block",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "use the left arm to grasp the red block on the table, handover it to the right arm and place it on the blue pad",
      "measured": "use the left arm to grasp the red block on the table, hand it over to the right arm, and set it down in the center of the blue pad. Release it with the right gripper open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/handover_block",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/handover_block.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_block.py",
      "catalog_path": "tasks/task12/catalog/01-robot-state-handover-block/task.yaml",
      "catalog_sha256": "e777b2f4749c01698419d399fd32ec14be0e931159e5a86da5b2e559aa83a83f",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/01",
      "notes": [
        "Makes central placement on the pad and release with the right gripper explicit."
      ]
    },
    {
      "key": "task12/01-vision-noise-handover-block",
      "id": "robotwin-plus/handover-block-aloha-agilex-vision-noise",
      "title": "Handover block",
      "native_task": "handover_block",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "use the left arm to grasp the red block on the table, handover it to the right arm and place it on the blue pad",
      "measured": "use the left arm to grasp the red block on the table, hand it over to the right arm, and set it down in the center of the blue pad. Release it with the right gripper open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/handover_block",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/handover_block.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_block.py",
      "catalog_path": "tasks/task12/catalog/01-vision-noise-handover-block/task.yaml",
      "catalog_sha256": "5d5eafb76fe9eaa887438e7841cd3e2b17e72386568084fef16d10e1e907ba0d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/01",
      "notes": [
        "Makes central placement on the pad and release with the right gripper explicit."
      ]
    },
    {
      "key": "task12/02-background-plus-place-dual-shoes",
      "id": "robotwin-plus/place-dual-shoes-aloha-agilex-background-plus",
      "title": "Place dual shoes",
      "native_task": "place_dual_shoes",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "use both arms to pick up the two shoes on the table and put them in the shoebox, with the shoe tip pointing to the left",
      "measured": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_dual_shoes",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_dual_shoes.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_dual_shoes.py",
      "catalog_path": "tasks/task12/catalog/02-background-plus-place-dual-shoes/task.yaml",
      "catalog_sha256": "b3a45e8d93a8e93e4df26e12ba777891277e548163fdfa8dbca57ec76084af9a",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/02",
      "notes": [
        "Specifies shoe orientation, relative placement and open grippers."
      ]
    },
    {
      "key": "task12/02-camera-place-dual-shoes",
      "id": "robotwin-plus/place-dual-shoes-aloha-agilex-camera",
      "title": "Place dual shoes",
      "native_task": "place_dual_shoes",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "use both arms to pick up the two shoes on the table and put them in the shoebox, with the shoe tip pointing to the left",
      "measured": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_dual_shoes",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_dual_shoes.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_dual_shoes.py",
      "catalog_path": "tasks/task12/catalog/02-camera-place-dual-shoes/task.yaml",
      "catalog_sha256": "95b3587e19a6784acd031115d0d49e5b27e54f065b11ed24a0a59d2e7d506232",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/02",
      "notes": [
        "Specifies shoe orientation, relative placement and open grippers."
      ]
    },
    {
      "key": "task12/02-clean-place-dual-shoes",
      "id": "robotwin-plus/place-dual-shoes-aloha-agilex-clean",
      "title": "Place dual shoes",
      "native_task": "place_dual_shoes",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "use both arms to pick up the two shoes on the table and put them in the shoebox, with the shoe tip pointing to the left",
      "measured": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_dual_shoes",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_dual_shoes.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_dual_shoes.py",
      "catalog_path": "tasks/task12/catalog/02-clean-place-dual-shoes/task.yaml",
      "catalog_sha256": "3209b853a793dbe17e443801bf6e9fa9c7f3518f945f7b4f0adc2b61a3a0b771",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/02",
      "notes": [
        "Specifies shoe orientation, relative placement and open grippers."
      ]
    },
    {
      "key": "task12/02-language-plus-place-dual-shoes",
      "id": "robotwin-plus/place-dual-shoes-aloha-agilex-language-plus",
      "title": "Place dual shoes",
      "native_task": "place_dual_shoes",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "use both arms to pick up the two shoes on the table and put them in the shoebox, with the shoe tip pointing to the left",
      "measured": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/place_dual_shoes",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_dual_shoes.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_dual_shoes.py",
      "catalog_path": "tasks/task12/catalog/02-language-plus-place-dual-shoes/task.yaml",
      "catalog_sha256": "524c1914ccb1f69ebfe24f12be47fbb88b5310602a0bf897c18a4387e17b8964",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/02",
      "notes": [
        "Specifies shoe orientation, relative placement and open grippers.",
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/02-light-place-dual-shoes",
      "id": "robotwin-plus/place-dual-shoes-aloha-agilex-light",
      "title": "Place dual shoes",
      "native_task": "place_dual_shoes",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "use both arms to pick up the two shoes on the table and put them in the shoebox, with the shoe tip pointing to the left",
      "measured": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_dual_shoes",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_dual_shoes.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_dual_shoes.py",
      "catalog_path": "tasks/task12/catalog/02-light-place-dual-shoes/task.yaml",
      "catalog_sha256": "2ebcd6066ded9169ed2bb959312cf4e7736f27453b2be4bfc78f918e5953baeb",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/02",
      "notes": [
        "Specifies shoe orientation, relative placement and open grippers."
      ]
    },
    {
      "key": "task12/02-objects-plus-place-dual-shoes",
      "id": "robotwin-plus/place-dual-shoes-aloha-agilex-objects-plus",
      "title": "Place dual shoes",
      "native_task": "place_dual_shoes",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "use both arms to pick up the two shoes on the table and put them in the shoebox, with the shoe tip pointing to the left",
      "measured": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_dual_shoes",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_dual_shoes.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_dual_shoes.py",
      "catalog_path": "tasks/task12/catalog/02-objects-plus-place-dual-shoes/task.yaml",
      "catalog_sha256": "a151b9ba1880ded2ea404e75fddf73f88b38b5dd4d27f6a16a77cd3e75e3d06e",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/02",
      "notes": [
        "Specifies shoe orientation, relative placement and open grippers."
      ]
    },
    {
      "key": "task12/02-robot-state-place-dual-shoes",
      "id": "robotwin-plus/place-dual-shoes-aloha-agilex-robot-state",
      "title": "Place dual shoes",
      "native_task": "place_dual_shoes",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "use both arms to pick up the two shoes on the table and put them in the shoebox, with the shoe tip pointing to the left",
      "measured": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_dual_shoes",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_dual_shoes.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_dual_shoes.py",
      "catalog_path": "tasks/task12/catalog/02-robot-state-place-dual-shoes/task.yaml",
      "catalog_sha256": "0ba68452da58e12c5c83d8885ec26b2809f330ac9bb565b77a5b8ac899601be5",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/02",
      "notes": [
        "Specifies shoe orientation, relative placement and open grippers."
      ]
    },
    {
      "key": "task12/02-vision-noise-place-dual-shoes",
      "id": "robotwin-plus/place-dual-shoes-aloha-agilex-vision-noise",
      "title": "Place dual shoes",
      "native_task": "place_dual_shoes",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "use both arms to pick up the two shoes on the table and put them in the shoebox, with the shoe tip pointing to the left",
      "measured": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_dual_shoes",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_dual_shoes.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_dual_shoes.py",
      "catalog_path": "tasks/task12/catalog/02-vision-noise-place-dual-shoes/task.yaml",
      "catalog_sha256": "83471c524817a5a7c75931bc169b8a601d6fab58621fe71b2452fdf95a738944",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/02",
      "notes": [
        "Specifies shoe orientation, relative placement and open grippers."
      ]
    },
    {
      "key": "task12/03-background-plus-put-bottles-dustbin",
      "id": "robotwin-plus/put-bottles-dustbin-aloha-agilex-background-plus",
      "title": "Put bottles dustbin",
      "native_task": "put_bottles_dustbin",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "use arms to grab the bottles and put them into the dustbin to the left of the table",
      "measured": "Use the arms to pick up all the task bottles and put them inside the dustbin to the left of the table.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/put_bottles_dustbin",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/put_bottles_dustbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_bottles_dustbin.py",
      "catalog_path": "tasks/task12/catalog/03-background-plus-put-bottles-dustbin/task.yaml",
      "catalog_sha256": "4a96758984c2465f26b7ea17973f4bc121070196f6bcd494c45436fb3f85c5e4",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/03",
      "notes": []
    },
    {
      "key": "task12/03-camera-put-bottles-dustbin",
      "id": "robotwin-plus/put-bottles-dustbin-aloha-agilex-camera",
      "title": "Put bottles dustbin",
      "native_task": "put_bottles_dustbin",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "use arms to grab the bottles and put them into the dustbin to the left of the table",
      "measured": "Use the arms to pick up all the task bottles and put them inside the dustbin to the left of the table.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/put_bottles_dustbin",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/put_bottles_dustbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_bottles_dustbin.py",
      "catalog_path": "tasks/task12/catalog/03-camera-put-bottles-dustbin/task.yaml",
      "catalog_sha256": "1dec21835995f5efb0ba64dcce9d64d94cb0a407b0ed21d6d3bb7e2690b8e092",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/03",
      "notes": []
    },
    {
      "key": "task12/03-clean-put-bottles-dustbin",
      "id": "robotwin-plus/put-bottles-dustbin-aloha-agilex-clean",
      "title": "Put bottles dustbin",
      "native_task": "put_bottles_dustbin",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "use arms to grab the bottles and put them into the dustbin to the left of the table",
      "measured": "Use the arms to pick up all the task bottles and put them inside the dustbin to the left of the table.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/put_bottles_dustbin",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/put_bottles_dustbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_bottles_dustbin.py",
      "catalog_path": "tasks/task12/catalog/03-clean-put-bottles-dustbin/task.yaml",
      "catalog_sha256": "c5cb7f48aa1b19485e2401668b61950de9d1641d5c50d234aa2db216061e81c9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/03",
      "notes": []
    },
    {
      "key": "task12/03-language-plus-put-bottles-dustbin",
      "id": "robotwin-plus/put-bottles-dustbin-aloha-agilex-language-plus",
      "title": "Put bottles dustbin",
      "native_task": "put_bottles_dustbin",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "use arms to grab the bottles and put them into the dustbin to the left of the table",
      "measured": "Use the arms to pick up all the task bottles and put them inside the dustbin to the left of the table.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/put_bottles_dustbin",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/put_bottles_dustbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_bottles_dustbin.py",
      "catalog_path": "tasks/task12/catalog/03-language-plus-put-bottles-dustbin/task.yaml",
      "catalog_sha256": "2a73cfea6cee33c57d7575e854fe334b81badd15d98e7c5b31edbbeb10a0fca3",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/03",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/03-light-put-bottles-dustbin",
      "id": "robotwin-plus/put-bottles-dustbin-aloha-agilex-light",
      "title": "Put bottles dustbin",
      "native_task": "put_bottles_dustbin",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "use arms to grab the bottles and put them into the dustbin to the left of the table",
      "measured": "Use the arms to pick up all the task bottles and put them inside the dustbin to the left of the table.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/put_bottles_dustbin",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/put_bottles_dustbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_bottles_dustbin.py",
      "catalog_path": "tasks/task12/catalog/03-light-put-bottles-dustbin/task.yaml",
      "catalog_sha256": "21c9270f3cdf7340416fba27b6e9f1b9de9a5a3d233ef94e9181d5cecbc70918",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/03",
      "notes": []
    },
    {
      "key": "task12/03-objects-plus-put-bottles-dustbin",
      "id": "robotwin-plus/put-bottles-dustbin-aloha-agilex-objects-plus",
      "title": "Put bottles dustbin",
      "native_task": "put_bottles_dustbin",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "use arms to grab the bottles and put them into the dustbin to the left of the table",
      "measured": "Use the arms to pick up all the task bottles and put them inside the dustbin to the left of the table.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/put_bottles_dustbin",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/put_bottles_dustbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_bottles_dustbin.py",
      "catalog_path": "tasks/task12/catalog/03-objects-plus-put-bottles-dustbin/task.yaml",
      "catalog_sha256": "f98f1ff5546bf8fb19cbda9519f71e846ffaeb4edf8ac64b6948014c58e6aa0a",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/03",
      "notes": []
    },
    {
      "key": "task12/03-robot-state-put-bottles-dustbin",
      "id": "robotwin-plus/put-bottles-dustbin-aloha-agilex-robot-state",
      "title": "Put bottles dustbin",
      "native_task": "put_bottles_dustbin",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "use arms to grab the bottles and put them into the dustbin to the left of the table",
      "measured": "Use the arms to pick up all the task bottles and put them inside the dustbin to the left of the table.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/put_bottles_dustbin",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/put_bottles_dustbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_bottles_dustbin.py",
      "catalog_path": "tasks/task12/catalog/03-robot-state-put-bottles-dustbin/task.yaml",
      "catalog_sha256": "2bb32ff7a18b6c29329ed08f56b55afab887cf85a6a37d1d446637f76fee7f5b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/03",
      "notes": []
    },
    {
      "key": "task12/03-vision-noise-put-bottles-dustbin",
      "id": "robotwin-plus/put-bottles-dustbin-aloha-agilex-vision-noise",
      "title": "Put bottles dustbin",
      "native_task": "put_bottles_dustbin",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "use arms to grab the bottles and put them into the dustbin to the left of the table",
      "measured": "Use the arms to pick up all the task bottles and put them inside the dustbin to the left of the table.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/put_bottles_dustbin",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/put_bottles_dustbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_bottles_dustbin.py",
      "catalog_path": "tasks/task12/catalog/03-vision-noise-put-bottles-dustbin/task.yaml",
      "catalog_sha256": "2afbfdd8c6be14b9a3bb7be1aebdb28d4115543fd366cacb17ecca91fae44e47",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/03",
      "notes": []
    },
    {
      "key": "task12/04-background-plus-scan-object",
      "id": "robotwin-plus/scan-object-aloha-agilex-background-plus",
      "title": "Scan object",
      "native_task": "scan_object",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "Use one arm to pick the scanner and use the other arm to pick the object, and use the scanner to scan the object",
      "measured": "Pick up the {scanner_description} and the {object_description} with separate arms. Hold the scanner's scanning face close to and directly facing the object's center, keeping both grippers closed around the items.",
      "status": "changed",
      "bindings": {
        "scanner_description": "scanner.description",
        "object_description": "object.description"
      },
      "definition": "task_instruction/scan_object",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/scan_object.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/scan_object.py",
      "catalog_path": "tasks/task12/catalog/04-background-plus-scan-object/task.yaml",
      "catalog_sha256": "9d120ca5fe1ab50d4b6acb9d57b7dc73ccaec118e38adbe3114356db43243445",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/04",
      "notes": [
        "Makes scanner alignment, close distance and closed grippers explicit.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/04-camera-scan-object",
      "id": "robotwin-plus/scan-object-aloha-agilex-camera",
      "title": "Scan object",
      "native_task": "scan_object",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "Use one arm to pick the scanner and use the other arm to pick the object, and use the scanner to scan the object",
      "measured": "Pick up the {scanner_description} and the {object_description} with separate arms. Hold the scanner's scanning face close to and directly facing the object's center, keeping both grippers closed around the items.",
      "status": "changed",
      "bindings": {
        "scanner_description": "scanner.description",
        "object_description": "object.description"
      },
      "definition": "task_instruction/scan_object",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/scan_object.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/scan_object.py",
      "catalog_path": "tasks/task12/catalog/04-camera-scan-object/task.yaml",
      "catalog_sha256": "a0789e07a88447cd45b1840d529b7128f5173c7b359121567629da41108e4731",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/04",
      "notes": [
        "Makes scanner alignment, close distance and closed grippers explicit.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/04-clean-scan-object",
      "id": "robotwin-plus/scan-object-aloha-agilex-clean",
      "title": "Scan object",
      "native_task": "scan_object",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "Use one arm to pick the scanner and use the other arm to pick the object, and use the scanner to scan the object",
      "measured": "Pick up the {scanner_description} and the {object_description} with separate arms. Hold the scanner's scanning face close to and directly facing the object's center, keeping both grippers closed around the items.",
      "status": "changed",
      "bindings": {
        "scanner_description": "scanner.description",
        "object_description": "object.description"
      },
      "definition": "task_instruction/scan_object",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/scan_object.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/scan_object.py",
      "catalog_path": "tasks/task12/catalog/04-clean-scan-object/task.yaml",
      "catalog_sha256": "6c1942fd27c9236ab148527fdc80c81560208507208a7142d61716fbef185353",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/04",
      "notes": [
        "Makes scanner alignment, close distance and closed grippers explicit.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/04-language-plus-scan-object",
      "id": "robotwin-plus/scan-object-aloha-agilex-language-plus",
      "title": "Scan object",
      "native_task": "scan_object",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "Use one arm to pick the scanner and use the other arm to pick the object, and use the scanner to scan the object",
      "measured": "Pick up the {scanner_description} and the {object_description} with separate arms. Hold the scanner's scanning face close to and directly facing the object's center, keeping both grippers closed around the items.",
      "status": "changed",
      "bindings": {
        "scanner_description": "scanner.description",
        "object_description": "object.description"
      },
      "definition": "task_instruction_plus/scan_object",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/scan_object.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/scan_object.py",
      "catalog_path": "tasks/task12/catalog/04-language-plus-scan-object/task.yaml",
      "catalog_sha256": "7e5d8bade7ef22825b39082bca8de951d24e897fdca9f3b2aa3016382529b6f9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/04",
      "notes": [
        "Makes scanner alignment, close distance and closed grippers explicit.",
        "Target descriptions are bound from the initialized scene.",
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/04-light-scan-object",
      "id": "robotwin-plus/scan-object-aloha-agilex-light",
      "title": "Scan object",
      "native_task": "scan_object",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "Use one arm to pick the scanner and use the other arm to pick the object, and use the scanner to scan the object",
      "measured": "Pick up the {scanner_description} and the {object_description} with separate arms. Hold the scanner's scanning face close to and directly facing the object's center, keeping both grippers closed around the items.",
      "status": "changed",
      "bindings": {
        "scanner_description": "scanner.description",
        "object_description": "object.description"
      },
      "definition": "task_instruction/scan_object",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/scan_object.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/scan_object.py",
      "catalog_path": "tasks/task12/catalog/04-light-scan-object/task.yaml",
      "catalog_sha256": "5f9de53c5097e692afcade15ce89dec1484fa023183786431b336dfb948c0ba9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/04",
      "notes": [
        "Makes scanner alignment, close distance and closed grippers explicit.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/04-objects-plus-scan-object",
      "id": "robotwin-plus/scan-object-aloha-agilex-objects-plus",
      "title": "Scan object",
      "native_task": "scan_object",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "Use one arm to pick the scanner and use the other arm to pick the object, and use the scanner to scan the object",
      "measured": "Pick up the {scanner_description} and the {object_description} with separate arms. Hold the scanner's scanning face close to and directly facing the object's center, keeping both grippers closed around the items.",
      "status": "changed",
      "bindings": {
        "scanner_description": "scanner.description",
        "object_description": "object.description"
      },
      "definition": "task_instruction/scan_object",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/scan_object.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/scan_object.py",
      "catalog_path": "tasks/task12/catalog/04-objects-plus-scan-object/task.yaml",
      "catalog_sha256": "821c1ddfd387b65cbd418725fdbb7e7502c7b06ed840d81416e5d0005f36bad3",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/04",
      "notes": [
        "Makes scanner alignment, close distance and closed grippers explicit.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/04-robot-state-scan-object",
      "id": "robotwin-plus/scan-object-aloha-agilex-robot-state",
      "title": "Scan object",
      "native_task": "scan_object",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "Use one arm to pick the scanner and use the other arm to pick the object, and use the scanner to scan the object",
      "measured": "Pick up the {scanner_description} and the {object_description} with separate arms. Hold the scanner's scanning face close to and directly facing the object's center, keeping both grippers closed around the items.",
      "status": "changed",
      "bindings": {
        "scanner_description": "scanner.description",
        "object_description": "object.description"
      },
      "definition": "task_instruction/scan_object",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/scan_object.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/scan_object.py",
      "catalog_path": "tasks/task12/catalog/04-robot-state-scan-object/task.yaml",
      "catalog_sha256": "04ae30d3d89b352b96f0b5d76900a2b48feb1da408d1ee447323c361ef236313",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/04",
      "notes": [
        "Makes scanner alignment, close distance and closed grippers explicit.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/04-vision-noise-scan-object",
      "id": "robotwin-plus/scan-object-aloha-agilex-vision-noise",
      "title": "Scan object",
      "native_task": "scan_object",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "Use one arm to pick the scanner and use the other arm to pick the object, and use the scanner to scan the object",
      "measured": "Pick up the {scanner_description} and the {object_description} with separate arms. Hold the scanner's scanning face close to and directly facing the object's center, keeping both grippers closed around the items.",
      "status": "changed",
      "bindings": {
        "scanner_description": "scanner.description",
        "object_description": "object.description"
      },
      "definition": "task_instruction/scan_object",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/scan_object.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/scan_object.py",
      "catalog_path": "tasks/task12/catalog/04-vision-noise-scan-object/task.yaml",
      "catalog_sha256": "de8ccee6f7ab7593455b4022c1bdefb1b7c01aaa19167700dd3cbb954c7c4a0b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/04",
      "notes": [
        "Makes scanner alignment, close distance and closed grippers explicit.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/05-background-plus-stack-bowls-three",
      "id": "robotwin-plus/stack-bowls-three-aloha-agilex-background-plus",
      "title": "Stack bowls three",
      "native_task": "stack_bowls_three",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "stack the three bowls on top of each other",
      "measured": "nest the three bowls on the table, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_bowls_three",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_bowls_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_three.py",
      "catalog_path": "tasks/task12/catalog/05-background-plus-stack-bowls-three/task.yaml",
      "catalog_sha256": "2ba4602f7742dd67aa75ae4b67b4a6d8ffac3c2caa57f1abe7f290df8d0bd101",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/05",
      "notes": []
    },
    {
      "key": "task12/05-camera-stack-bowls-three",
      "id": "robotwin-plus/stack-bowls-three-aloha-agilex-camera",
      "title": "Stack bowls three",
      "native_task": "stack_bowls_three",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "stack the three bowls on top of each other",
      "measured": "nest the three bowls on the table, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_bowls_three",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_bowls_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_three.py",
      "catalog_path": "tasks/task12/catalog/05-camera-stack-bowls-three/task.yaml",
      "catalog_sha256": "0a22692fdc6c1145eed2ec5dddb0adc71a1d3aea063f6f2ce50089c8fa1183ce",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/05",
      "notes": []
    },
    {
      "key": "task12/05-clean-stack-bowls-three",
      "id": "robotwin-plus/stack-bowls-three-aloha-agilex-clean",
      "title": "Stack bowls three",
      "native_task": "stack_bowls_three",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "stack the three bowls on top of each other",
      "measured": "nest the three bowls on the table, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_bowls_three",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_bowls_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_three.py",
      "catalog_path": "tasks/task12/catalog/05-clean-stack-bowls-three/task.yaml",
      "catalog_sha256": "23499ec96f3fdbc8e166fbbedc61ae7d235ddc209a91f81cfcc40ecaa08021af",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/05",
      "notes": []
    },
    {
      "key": "task12/05-language-plus-stack-bowls-three",
      "id": "robotwin-plus/stack-bowls-three-aloha-agilex-language-plus",
      "title": "Stack bowls three",
      "native_task": "stack_bowls_three",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "stack the three bowls on top of each other",
      "measured": "nest the three bowls on the table, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/stack_bowls_three",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/stack_bowls_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_three.py",
      "catalog_path": "tasks/task12/catalog/05-language-plus-stack-bowls-three/task.yaml",
      "catalog_sha256": "feabdb42795071842ebee6ca2e2eb7bf0675b5e1f31dbfe3f03954bd332fd707",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/05",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/05-light-stack-bowls-three",
      "id": "robotwin-plus/stack-bowls-three-aloha-agilex-light",
      "title": "Stack bowls three",
      "native_task": "stack_bowls_three",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "stack the three bowls on top of each other",
      "measured": "nest the three bowls on the table, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_bowls_three",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_bowls_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_three.py",
      "catalog_path": "tasks/task12/catalog/05-light-stack-bowls-three/task.yaml",
      "catalog_sha256": "1fbdde19548bbba2b86ad89839a642462812dfc0e6846f6aaff6246c301f08fb",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/05",
      "notes": []
    },
    {
      "key": "task12/05-objects-plus-stack-bowls-three",
      "id": "robotwin-plus/stack-bowls-three-aloha-agilex-objects-plus",
      "title": "Stack bowls three",
      "native_task": "stack_bowls_three",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "stack the three bowls on top of each other",
      "measured": "nest the three bowls on the table, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_bowls_three",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_bowls_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_three.py",
      "catalog_path": "tasks/task12/catalog/05-objects-plus-stack-bowls-three/task.yaml",
      "catalog_sha256": "a988e2777b50ba040350d6eede640bca42b134f0fd545493165d01fdfdcf644d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/05",
      "notes": []
    },
    {
      "key": "task12/05-robot-state-stack-bowls-three",
      "id": "robotwin-plus/stack-bowls-three-aloha-agilex-robot-state",
      "title": "Stack bowls three",
      "native_task": "stack_bowls_three",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "stack the three bowls on top of each other",
      "measured": "nest the three bowls on the table, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_bowls_three",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_bowls_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_three.py",
      "catalog_path": "tasks/task12/catalog/05-robot-state-stack-bowls-three/task.yaml",
      "catalog_sha256": "1fb3f462b1ed4cc8eb754d4cb734ef933bbd06504675ad34c2a77a860c0fc9e3",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/05",
      "notes": []
    },
    {
      "key": "task12/05-vision-noise-stack-bowls-three",
      "id": "robotwin-plus/stack-bowls-three-aloha-agilex-vision-noise",
      "title": "Stack bowls three",
      "native_task": "stack_bowls_three",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "stack the three bowls on top of each other",
      "measured": "nest the three bowls on the table, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_bowls_three",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_bowls_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_three.py",
      "catalog_path": "tasks/task12/catalog/05-vision-noise-stack-bowls-three/task.yaml",
      "catalog_sha256": "aed33908e73f620f2c358b12ff5f8e5789cd02f98099535ae86fd06596152b3c",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/05",
      "notes": []
    },
    {
      "key": "task12/06-background-plus-stack-blocks-three",
      "id": "robotwin-plus/stack-blocks-three-aloha-agilex-background-plus",
      "title": "Stack blocks three",
      "native_task": "stack_blocks_three",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "there are three blocks on the table, the color of the blocks is <red, green and blue>, <move the blocks to the center of the table>, and <stack the blue block on the green block, and the green block on the red block>",
      "measured": "Build a three-block stack by placing the green block centrally on the red block and the blue block centrally on the green block. Leave both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_blocks_three",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_blocks_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_three.py",
      "catalog_path": "tasks/task12/catalog/06-background-plus-stack-blocks-three/task.yaml",
      "catalog_sha256": "a70c972d42b121228049b8274297fdfa903fee577b637f040f0ceaea6960b8b8",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/06",
      "notes": [
        "Specifies block order, centered stacking and open grippers."
      ]
    },
    {
      "key": "task12/06-camera-stack-blocks-three",
      "id": "robotwin-plus/stack-blocks-three-aloha-agilex-camera",
      "title": "Stack blocks three",
      "native_task": "stack_blocks_three",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "there are three blocks on the table, the color of the blocks is <red, green and blue>, <move the blocks to the center of the table>, and <stack the blue block on the green block, and the green block on the red block>",
      "measured": "Build a three-block stack by placing the green block centrally on the red block and the blue block centrally on the green block. Leave both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_blocks_three",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_blocks_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_three.py",
      "catalog_path": "tasks/task12/catalog/06-camera-stack-blocks-three/task.yaml",
      "catalog_sha256": "24fefd379e90c3e0bfeb1db7ff008f4a8467d6731664a9429817cbc89a5e0cac",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/06",
      "notes": [
        "Specifies block order, centered stacking and open grippers."
      ]
    },
    {
      "key": "task12/06-clean-stack-blocks-three",
      "id": "robotwin-plus/stack-blocks-three-aloha-agilex-clean",
      "title": "Stack blocks three",
      "native_task": "stack_blocks_three",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "there are three blocks on the table, the color of the blocks is <red, green and blue>, <move the blocks to the center of the table>, and <stack the blue block on the green block, and the green block on the red block>",
      "measured": "Build a three-block stack by placing the green block centrally on the red block and the blue block centrally on the green block. Leave both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_blocks_three",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_blocks_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_three.py",
      "catalog_path": "tasks/task12/catalog/06-clean-stack-blocks-three/task.yaml",
      "catalog_sha256": "320a1cc11f30a761b3a9d1921a968679dbfbab68dce240823ebc72f91e08582c",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/06",
      "notes": [
        "Specifies block order, centered stacking and open grippers."
      ]
    },
    {
      "key": "task12/06-language-plus-stack-blocks-three",
      "id": "robotwin-plus/stack-blocks-three-aloha-agilex-language-plus",
      "title": "Stack blocks three",
      "native_task": "stack_blocks_three",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "there are three blocks on the table, the color of the blocks is <red, green and blue>, <move the blocks to the center of the table>, and <stack the blue block on the green block, and the green block on the red block>",
      "measured": "Build a three-block stack by placing the green block centrally on the red block and the blue block centrally on the green block. Leave both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/stack_blocks_three",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/stack_blocks_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_three.py",
      "catalog_path": "tasks/task12/catalog/06-language-plus-stack-blocks-three/task.yaml",
      "catalog_sha256": "fc40fed22fbd7f99acf512e4af6df1f41ac8b140e178b7ba1b7780ffb2ebb4f3",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/06",
      "notes": [
        "Specifies block order, centered stacking and open grippers.",
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/06-light-stack-blocks-three",
      "id": "robotwin-plus/stack-blocks-three-aloha-agilex-light",
      "title": "Stack blocks three",
      "native_task": "stack_blocks_three",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "there are three blocks on the table, the color of the blocks is <red, green and blue>, <move the blocks to the center of the table>, and <stack the blue block on the green block, and the green block on the red block>",
      "measured": "Build a three-block stack by placing the green block centrally on the red block and the blue block centrally on the green block. Leave both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_blocks_three",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_blocks_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_three.py",
      "catalog_path": "tasks/task12/catalog/06-light-stack-blocks-three/task.yaml",
      "catalog_sha256": "ab79db1a0782b1482a2439f065822612a4a8cda93dcfc2f841eeedefd92fe8ec",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/06",
      "notes": [
        "Specifies block order, centered stacking and open grippers."
      ]
    },
    {
      "key": "task12/06-objects-plus-stack-blocks-three",
      "id": "robotwin-plus/stack-blocks-three-aloha-agilex-objects-plus",
      "title": "Stack blocks three",
      "native_task": "stack_blocks_three",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "there are three blocks on the table, the color of the blocks is <red, green and blue>, <move the blocks to the center of the table>, and <stack the blue block on the green block, and the green block on the red block>",
      "measured": "Build a three-block stack by placing the green block centrally on the red block and the blue block centrally on the green block. Leave both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_blocks_three",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_blocks_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_three.py",
      "catalog_path": "tasks/task12/catalog/06-objects-plus-stack-blocks-three/task.yaml",
      "catalog_sha256": "c41ad8fba1f5ec2128fc527df8a7e51570df844834f714682461fd568ab72a7e",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/06",
      "notes": [
        "Specifies block order, centered stacking and open grippers."
      ]
    },
    {
      "key": "task12/06-robot-state-stack-blocks-three",
      "id": "robotwin-plus/stack-blocks-three-aloha-agilex-robot-state",
      "title": "Stack blocks three",
      "native_task": "stack_blocks_three",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "there are three blocks on the table, the color of the blocks is <red, green and blue>, <move the blocks to the center of the table>, and <stack the blue block on the green block, and the green block on the red block>",
      "measured": "Build a three-block stack by placing the green block centrally on the red block and the blue block centrally on the green block. Leave both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_blocks_three",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_blocks_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_three.py",
      "catalog_path": "tasks/task12/catalog/06-robot-state-stack-blocks-three/task.yaml",
      "catalog_sha256": "a313ca515a1c8ec699c2d019fc3748e40f32a12edac5fa912f7a9d8675cd991d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/06",
      "notes": [
        "Specifies block order, centered stacking and open grippers."
      ]
    },
    {
      "key": "task12/06-vision-noise-stack-blocks-three",
      "id": "robotwin-plus/stack-blocks-three-aloha-agilex-vision-noise",
      "title": "Stack blocks three",
      "native_task": "stack_blocks_three",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "there are three blocks on the table, the color of the blocks is <red, green and blue>, <move the blocks to the center of the table>, and <stack the blue block on the green block, and the green block on the red block>",
      "measured": "Build a three-block stack by placing the green block centrally on the red block and the blue block centrally on the green block. Leave both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_blocks_three",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_blocks_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_three.py",
      "catalog_path": "tasks/task12/catalog/06-vision-noise-stack-blocks-three/task.yaml",
      "catalog_sha256": "8f4755e084bea2fd10773df253807a5d8a4a4810ead8fdbed82801f803578c9c",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/06",
      "notes": [
        "Specifies block order, centered stacking and open grippers."
      ]
    },
    {
      "key": "task12/07-background-plus-hanging-mug",
      "id": "robotwin-plus/hanging-mug-aloha-agilex-background-plus",
      "title": "Hanging mug",
      "native_task": "hanging_mug",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "Use left arm to pick the mug on the table, rotate the mug and put the mug down in the middle of the table, use the right arm to pick the mug and hang it onto the rack.",
      "measured": "Use the left arm to pick up and rotate the mug, set it down in the middle of the table, then use the right arm to hang it on the rack. Release the mug with the right gripper open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/hanging_mug",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/hanging_mug.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/hanging_mug.py",
      "catalog_path": "tasks/task12/catalog/07-background-plus-hanging-mug/task.yaml",
      "catalog_sha256": "2245d37f3ec8ed95abbb02a81089de36973de7ac1b32ad869d45a6f96274dc0f",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/07",
      "notes": []
    },
    {
      "key": "task12/07-camera-hanging-mug",
      "id": "robotwin-plus/hanging-mug-aloha-agilex-camera",
      "title": "Hanging mug",
      "native_task": "hanging_mug",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "Use left arm to pick the mug on the table, rotate the mug and put the mug down in the middle of the table, use the right arm to pick the mug and hang it onto the rack.",
      "measured": "Use the left arm to pick up and rotate the mug, set it down in the middle of the table, then use the right arm to hang it on the rack. Release the mug with the right gripper open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/hanging_mug",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/hanging_mug.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/hanging_mug.py",
      "catalog_path": "tasks/task12/catalog/07-camera-hanging-mug/task.yaml",
      "catalog_sha256": "617845cfd67dcf6869b3ef1482cafe8924b6e7c027b2a74a1ce4a6c78a40182c",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/07",
      "notes": []
    },
    {
      "key": "task12/07-clean-hanging-mug",
      "id": "robotwin-plus/hanging-mug-aloha-agilex-clean",
      "title": "Hanging mug",
      "native_task": "hanging_mug",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "Use left arm to pick the mug on the table, rotate the mug and put the mug down in the middle of the table, use the right arm to pick the mug and hang it onto the rack.",
      "measured": "Use the left arm to pick up and rotate the mug, set it down in the middle of the table, then use the right arm to hang it on the rack. Release the mug with the right gripper open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/hanging_mug",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/hanging_mug.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/hanging_mug.py",
      "catalog_path": "tasks/task12/catalog/07-clean-hanging-mug/task.yaml",
      "catalog_sha256": "84ea03ecb945f626f263b98873952fcde6d51da7fe6c217c32dcc2e9398f0957",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/07",
      "notes": []
    },
    {
      "key": "task12/07-language-plus-hanging-mug",
      "id": "robotwin-plus/hanging-mug-aloha-agilex-language-plus",
      "title": "Hanging mug",
      "native_task": "hanging_mug",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "Use left arm to pick the mug on the table, rotate the mug and put the mug down in the middle of the table, use the right arm to pick the mug and hang it onto the rack.",
      "measured": "Use the left arm to pick up and rotate the mug, set it down in the middle of the table, then use the right arm to hang it on the rack. Release the mug with the right gripper open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/hanging_mug",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/hanging_mug.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/hanging_mug.py",
      "catalog_path": "tasks/task12/catalog/07-language-plus-hanging-mug/task.yaml",
      "catalog_sha256": "77dcd3c46bfdbc104d899ff98afe8643169ce624271fe69a226a7379280dccbe",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/07",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/07-light-hanging-mug",
      "id": "robotwin-plus/hanging-mug-aloha-agilex-light",
      "title": "Hanging mug",
      "native_task": "hanging_mug",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "Use left arm to pick the mug on the table, rotate the mug and put the mug down in the middle of the table, use the right arm to pick the mug and hang it onto the rack.",
      "measured": "Use the left arm to pick up and rotate the mug, set it down in the middle of the table, then use the right arm to hang it on the rack. Release the mug with the right gripper open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/hanging_mug",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/hanging_mug.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/hanging_mug.py",
      "catalog_path": "tasks/task12/catalog/07-light-hanging-mug/task.yaml",
      "catalog_sha256": "fa7860f8dd7973fbcc852886e996ec7d1257b2f5ed983af0fe94f26ca5d9e412",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/07",
      "notes": []
    },
    {
      "key": "task12/07-objects-plus-hanging-mug",
      "id": "robotwin-plus/hanging-mug-aloha-agilex-objects-plus",
      "title": "Hanging mug",
      "native_task": "hanging_mug",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "Use left arm to pick the mug on the table, rotate the mug and put the mug down in the middle of the table, use the right arm to pick the mug and hang it onto the rack.",
      "measured": "Use the left arm to pick up and rotate the mug, set it down in the middle of the table, then use the right arm to hang it on the rack. Release the mug with the right gripper open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/hanging_mug",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/hanging_mug.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/hanging_mug.py",
      "catalog_path": "tasks/task12/catalog/07-objects-plus-hanging-mug/task.yaml",
      "catalog_sha256": "e2c610de87bba18e00c42502b4ede59731f13d73d883d8da2e878d7fd6fd15e1",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/07",
      "notes": []
    },
    {
      "key": "task12/07-robot-state-hanging-mug",
      "id": "robotwin-plus/hanging-mug-aloha-agilex-robot-state",
      "title": "Hanging mug",
      "native_task": "hanging_mug",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "Use left arm to pick the mug on the table, rotate the mug and put the mug down in the middle of the table, use the right arm to pick the mug and hang it onto the rack.",
      "measured": "Use the left arm to pick up and rotate the mug, set it down in the middle of the table, then use the right arm to hang it on the rack. Release the mug with the right gripper open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/hanging_mug",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/hanging_mug.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/hanging_mug.py",
      "catalog_path": "tasks/task12/catalog/07-robot-state-hanging-mug/task.yaml",
      "catalog_sha256": "c177eb3d787f48f64d7c1ac21e9178ed5437d6f853f15101d0ea641777dcca19",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/07",
      "notes": []
    },
    {
      "key": "task12/07-vision-noise-hanging-mug",
      "id": "robotwin-plus/hanging-mug-aloha-agilex-vision-noise",
      "title": "Hanging mug",
      "native_task": "hanging_mug",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "Use left arm to pick the mug on the table, rotate the mug and put the mug down in the middle of the table, use the right arm to pick the mug and hang it onto the rack.",
      "measured": "Use the left arm to pick up and rotate the mug, set it down in the middle of the table, then use the right arm to hang it on the rack. Release the mug with the right gripper open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/hanging_mug",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/hanging_mug.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/hanging_mug.py",
      "catalog_path": "tasks/task12/catalog/07-vision-noise-hanging-mug/task.yaml",
      "catalog_sha256": "1a7e7fc1295a1a80228afaae43109615efa0cad0a02594462bdc23ddc24be98e",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/07",
      "notes": []
    },
    {
      "key": "task12/08-background-plus-put-object-cabinet",
      "id": "robotwin-plus/put-object-cabinet-aloha-agilex-background-plus",
      "title": "Put object cabinet",
      "native_task": "put_object_cabinet",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "use {a} to open the cabinet's drawer, and use another arm to put the object on the table to the drawer.",
      "measured": "Use one arm to hold the {object_description} and the other to open the bottom cabinet drawer. Set the object down near the center of the drawer interior and release it.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/put_object_cabinet",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/put_object_cabinet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_object_cabinet.py",
      "catalog_path": "tasks/task12/catalog/08-background-plus-put-object-cabinet/task.yaml",
      "catalog_sha256": "748f9298466099cf5d103a4c9a739d50a5b365194543a4864863b5b40e60605f",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/08",
      "notes": [
        "Clarifies the bottom drawer, interior placement and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/08-camera-put-object-cabinet",
      "id": "robotwin-plus/put-object-cabinet-aloha-agilex-camera",
      "title": "Put object cabinet",
      "native_task": "put_object_cabinet",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "use {a} to open the cabinet's drawer, and use another arm to put the object on the table to the drawer.",
      "measured": "Use one arm to hold the {object_description} and the other to open the bottom cabinet drawer. Set the object down near the center of the drawer interior and release it.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/put_object_cabinet",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/put_object_cabinet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_object_cabinet.py",
      "catalog_path": "tasks/task12/catalog/08-camera-put-object-cabinet/task.yaml",
      "catalog_sha256": "2ebcd3422bfeae3766281962efd73058a2a12dd3413954b3b81d0731a9435160",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/08",
      "notes": [
        "Clarifies the bottom drawer, interior placement and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/08-clean-put-object-cabinet",
      "id": "robotwin-plus/put-object-cabinet-aloha-agilex-clean",
      "title": "Put object cabinet",
      "native_task": "put_object_cabinet",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "use {a} to open the cabinet's drawer, and use another arm to put the object on the table to the drawer.",
      "measured": "Use one arm to hold the {object_description} and the other to open the bottom cabinet drawer. Set the object down near the center of the drawer interior and release it.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/put_object_cabinet",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/put_object_cabinet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_object_cabinet.py",
      "catalog_path": "tasks/task12/catalog/08-clean-put-object-cabinet/task.yaml",
      "catalog_sha256": "e700f50193ce7579fd4b9f0d49ae62ebaf4a390870f8d3923f1fc51f0970b007",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/08",
      "notes": [
        "Clarifies the bottom drawer, interior placement and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/08-language-plus-put-object-cabinet",
      "id": "robotwin-plus/put-object-cabinet-aloha-agilex-language-plus",
      "title": "Put object cabinet",
      "native_task": "put_object_cabinet",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "use {a} to open the cabinet's drawer, and use another arm to put the object on the table to the drawer",
      "measured": "Use one arm to hold the {object_description} and the other to open the bottom cabinet drawer. Set the object down near the center of the drawer interior and release it.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction_plus/put_object_cabinet",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/put_object_cabinet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_object_cabinet.py",
      "catalog_path": "tasks/task12/catalog/08-language-plus-put-object-cabinet/task.yaml",
      "catalog_sha256": "eb1a05a95b0911233df9913e2e0e5bde3fdfed681aac0205bb9150aaf0e8de36",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/08",
      "notes": [
        "Clarifies the bottom drawer, interior placement and release.",
        "Target descriptions are bound from the initialized scene.",
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/08-light-put-object-cabinet",
      "id": "robotwin-plus/put-object-cabinet-aloha-agilex-light",
      "title": "Put object cabinet",
      "native_task": "put_object_cabinet",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "use {a} to open the cabinet's drawer, and use another arm to put the object on the table to the drawer.",
      "measured": "Use one arm to hold the {object_description} and the other to open the bottom cabinet drawer. Set the object down near the center of the drawer interior and release it.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/put_object_cabinet",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/put_object_cabinet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_object_cabinet.py",
      "catalog_path": "tasks/task12/catalog/08-light-put-object-cabinet/task.yaml",
      "catalog_sha256": "e960c9745f8ca7584f24208585cad2ef8066dbe7a31df56c0ac6f3ba6ea1f497",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/08",
      "notes": [
        "Clarifies the bottom drawer, interior placement and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/08-objects-plus-put-object-cabinet",
      "id": "robotwin-plus/put-object-cabinet-aloha-agilex-objects-plus",
      "title": "Put object cabinet",
      "native_task": "put_object_cabinet",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "use {a} to open the cabinet's drawer, and use another arm to put the object on the table to the drawer.",
      "measured": "Use one arm to hold the {object_description} and the other to open the bottom cabinet drawer. Set the object down near the center of the drawer interior and release it.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/put_object_cabinet",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/put_object_cabinet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_object_cabinet.py",
      "catalog_path": "tasks/task12/catalog/08-objects-plus-put-object-cabinet/task.yaml",
      "catalog_sha256": "ffec474baa4741f93eef628e2509f7ea06dfa61e9c189b7bef818e900c7e4a4a",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/08",
      "notes": [
        "Clarifies the bottom drawer, interior placement and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/08-robot-state-put-object-cabinet",
      "id": "robotwin-plus/put-object-cabinet-aloha-agilex-robot-state",
      "title": "Put object cabinet",
      "native_task": "put_object_cabinet",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "use {a} to open the cabinet's drawer, and use another arm to put the object on the table to the drawer.",
      "measured": "Use one arm to hold the {object_description} and the other to open the bottom cabinet drawer. Set the object down near the center of the drawer interior and release it.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/put_object_cabinet",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/put_object_cabinet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_object_cabinet.py",
      "catalog_path": "tasks/task12/catalog/08-robot-state-put-object-cabinet/task.yaml",
      "catalog_sha256": "2b8a0ee1e5993f1fb22b39f7fe6f75d6c147c8f529c16d8d9e036cffc9612cbd",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/08",
      "notes": [
        "Clarifies the bottom drawer, interior placement and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/08-vision-noise-put-object-cabinet",
      "id": "robotwin-plus/put-object-cabinet-aloha-agilex-vision-noise",
      "title": "Put object cabinet",
      "native_task": "put_object_cabinet",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "use {a} to open the cabinet's drawer, and use another arm to put the object on the table to the drawer.",
      "measured": "Use one arm to hold the {object_description} and the other to open the bottom cabinet drawer. Set the object down near the center of the drawer interior and release it.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/put_object_cabinet",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/put_object_cabinet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_object_cabinet.py",
      "catalog_path": "tasks/task12/catalog/08-vision-noise-put-object-cabinet/task.yaml",
      "catalog_sha256": "26938258e6ed32d34a454277bfb446902d5007772e8d43066b573dc7481dcc96",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/08",
      "notes": [
        "Clarifies the bottom drawer, interior placement and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/09-background-plus-blocks-ranking-size",
      "id": "robotwin-plus/blocks-ranking-size-aloha-agilex-background-plus",
      "title": "Blocks ranking size",
      "native_task": "blocks_ranking_size",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "there are three blocks on the table, the color of the blocks is random, move the blocks to the center of the table, and arrange them from largest to smallest, from left to right",
      "measured": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. Release them with both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/blocks_ranking_size",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/blocks_ranking_size.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_size.py",
      "catalog_path": "tasks/task12/catalog/09-background-plus-blocks-ranking-size/task.yaml",
      "catalog_sha256": "5e6332944863981728676456785d13168bfab04cd2b2584e86f907f87435f168",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/09",
      "notes": []
    },
    {
      "key": "task12/09-camera-blocks-ranking-size",
      "id": "robotwin-plus/blocks-ranking-size-aloha-agilex-camera",
      "title": "Blocks ranking size",
      "native_task": "blocks_ranking_size",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "there are three blocks on the table, the color of the blocks is random, move the blocks to the center of the table, and arrange them from largest to smallest, from left to right",
      "measured": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. Release them with both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/blocks_ranking_size",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/blocks_ranking_size.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_size.py",
      "catalog_path": "tasks/task12/catalog/09-camera-blocks-ranking-size/task.yaml",
      "catalog_sha256": "ba7fa8585c9ac0e813cd1e635f419e4503a803ee7eefd2e29ae0f096567c5685",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/09",
      "notes": []
    },
    {
      "key": "task12/09-clean-blocks-ranking-size",
      "id": "robotwin-plus/blocks-ranking-size-aloha-agilex-clean",
      "title": "Blocks ranking size",
      "native_task": "blocks_ranking_size",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "there are three blocks on the table, the color of the blocks is random, move the blocks to the center of the table, and arrange them from largest to smallest, from left to right",
      "measured": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. Release them with both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/blocks_ranking_size",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/blocks_ranking_size.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_size.py",
      "catalog_path": "tasks/task12/catalog/09-clean-blocks-ranking-size/task.yaml",
      "catalog_sha256": "63823eb592ab7ade00d4512c751638179ed78bb0b01e561f07a63a9580c43ab2",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/09",
      "notes": []
    },
    {
      "key": "task12/09-language-plus-blocks-ranking-size",
      "id": "robotwin-plus/blocks-ranking-size-aloha-agilex-language-plus",
      "title": "Blocks ranking size",
      "native_task": "blocks_ranking_size",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "there are three blocks on the table, the color of the blocks is random, move the blocks to the center of the table, and arrange them from largest to smallest, from left to right",
      "measured": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. Release them with both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/blocks_ranking_size",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/blocks_ranking_size.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_size.py",
      "catalog_path": "tasks/task12/catalog/09-language-plus-blocks-ranking-size/task.yaml",
      "catalog_sha256": "0ac1b37332d2ce65ff44833e41979a8e0ad3e4e67f105bc0c5ddc220d4033a5e",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/09",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/09-light-blocks-ranking-size",
      "id": "robotwin-plus/blocks-ranking-size-aloha-agilex-light",
      "title": "Blocks ranking size",
      "native_task": "blocks_ranking_size",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "there are three blocks on the table, the color of the blocks is random, move the blocks to the center of the table, and arrange them from largest to smallest, from left to right",
      "measured": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. Release them with both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/blocks_ranking_size",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/blocks_ranking_size.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_size.py",
      "catalog_path": "tasks/task12/catalog/09-light-blocks-ranking-size/task.yaml",
      "catalog_sha256": "e77b63dc4f916d3af7668d9b7162467e6bcebf62c6ef6d0e99cdb550d696e0d2",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/09",
      "notes": []
    },
    {
      "key": "task12/09-objects-plus-blocks-ranking-size",
      "id": "robotwin-plus/blocks-ranking-size-aloha-agilex-objects-plus",
      "title": "Blocks ranking size",
      "native_task": "blocks_ranking_size",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "there are three blocks on the table, the color of the blocks is random, move the blocks to the center of the table, and arrange them from largest to smallest, from left to right",
      "measured": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. Release them with both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/blocks_ranking_size",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/blocks_ranking_size.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_size.py",
      "catalog_path": "tasks/task12/catalog/09-objects-plus-blocks-ranking-size/task.yaml",
      "catalog_sha256": "ec76b6e995361f40612f0b1d704c7c9753780a503ee2813334e81ae007084cc9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/09",
      "notes": []
    },
    {
      "key": "task12/09-robot-state-blocks-ranking-size",
      "id": "robotwin-plus/blocks-ranking-size-aloha-agilex-robot-state",
      "title": "Blocks ranking size",
      "native_task": "blocks_ranking_size",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "there are three blocks on the table, the color of the blocks is random, move the blocks to the center of the table, and arrange them from largest to smallest, from left to right",
      "measured": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. Release them with both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/blocks_ranking_size",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/blocks_ranking_size.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_size.py",
      "catalog_path": "tasks/task12/catalog/09-robot-state-blocks-ranking-size/task.yaml",
      "catalog_sha256": "a6ac90616d856a86ff689711609e401e8b8d9b5c6156409f6bb717bd31502955",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/09",
      "notes": []
    },
    {
      "key": "task12/09-vision-noise-blocks-ranking-size",
      "id": "robotwin-plus/blocks-ranking-size-aloha-agilex-vision-noise",
      "title": "Blocks ranking size",
      "native_task": "blocks_ranking_size",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "there are three blocks on the table, the color of the blocks is random, move the blocks to the center of the table, and arrange them from largest to smallest, from left to right",
      "measured": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. Release them with both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/blocks_ranking_size",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/blocks_ranking_size.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_size.py",
      "catalog_path": "tasks/task12/catalog/09-vision-noise-blocks-ranking-size/task.yaml",
      "catalog_sha256": "355ea4241f4340970465a55bfecc92a7cb0b850db890b7abcdd2fd7a58ff55b0",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/09",
      "notes": []
    },
    {
      "key": "task12/10-background-plus-lift-pot",
      "id": "robotwin-plus/lift-pot-aloha-agilex-background-plus",
      "title": "Lift pot",
      "native_task": "lift_pot",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "use BOTH!!! arms to lift the pot",
      "measured": "Use both arms to grasp the pot by its two handles and lift it well clear of the tabletop, keeping it upright. Keep each gripper centered on its handle while holding the pot up.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/lift_pot",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/lift_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/lift_pot.py",
      "catalog_path": "tasks/task12/catalog/10-background-plus-lift-pot/task.yaml",
      "catalog_sha256": "2e4716aa5376f4a0304218024e1fe422bb6e1cd86cba36c16d61eb57c653aae1",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/10",
      "notes": [
        "Clarifies upright lifting while both grippers stay on the handles."
      ]
    },
    {
      "key": "task12/10-camera-lift-pot",
      "id": "robotwin-plus/lift-pot-aloha-agilex-camera",
      "title": "Lift pot",
      "native_task": "lift_pot",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "use BOTH!!! arms to lift the pot",
      "measured": "Use both arms to grasp the pot by its two handles and lift it well clear of the tabletop, keeping it upright. Keep each gripper centered on its handle while holding the pot up.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/lift_pot",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/lift_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/lift_pot.py",
      "catalog_path": "tasks/task12/catalog/10-camera-lift-pot/task.yaml",
      "catalog_sha256": "a4fadd019ea80f183ae2d7563b9bb30756bfc3a14d3c86f4552508728cc7534b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/10",
      "notes": [
        "Clarifies upright lifting while both grippers stay on the handles."
      ]
    },
    {
      "key": "task12/10-clean-lift-pot",
      "id": "robotwin-plus/lift-pot-aloha-agilex-clean",
      "title": "Lift pot",
      "native_task": "lift_pot",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "use BOTH!!! arms to lift the pot",
      "measured": "Use both arms to grasp the pot by its two handles and lift it well clear of the tabletop, keeping it upright. Keep each gripper centered on its handle while holding the pot up.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/lift_pot",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/lift_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/lift_pot.py",
      "catalog_path": "tasks/task12/catalog/10-clean-lift-pot/task.yaml",
      "catalog_sha256": "f05e2b7db604a9b647bac0baba648dc7ef3e30a5c44ed19e927bcde5339dab02",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/10",
      "notes": [
        "Clarifies upright lifting while both grippers stay on the handles."
      ]
    },
    {
      "key": "task12/10-language-plus-lift-pot",
      "id": "robotwin-plus/lift-pot-aloha-agilex-language-plus",
      "title": "Lift pot",
      "native_task": "lift_pot",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "use BOTH!!! arms to lift the pot",
      "measured": "Use both arms to grasp the pot by its two handles and lift it well clear of the tabletop, keeping it upright. Keep each gripper centered on its handle while holding the pot up.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/lift_pot",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/lift_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/lift_pot.py",
      "catalog_path": "tasks/task12/catalog/10-language-plus-lift-pot/task.yaml",
      "catalog_sha256": "4e9434779f43b69dc10d04d38c170857e6a043f5859abb1788747f27010fd3d0",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/10",
      "notes": [
        "Clarifies upright lifting while both grippers stay on the handles.",
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/10-light-lift-pot",
      "id": "robotwin-plus/lift-pot-aloha-agilex-light",
      "title": "Lift pot",
      "native_task": "lift_pot",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "use BOTH!!! arms to lift the pot",
      "measured": "Use both arms to grasp the pot by its two handles and lift it well clear of the tabletop, keeping it upright. Keep each gripper centered on its handle while holding the pot up.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/lift_pot",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/lift_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/lift_pot.py",
      "catalog_path": "tasks/task12/catalog/10-light-lift-pot/task.yaml",
      "catalog_sha256": "e1352a9cce39328d50b87e4b21d0a7e10a3351f9833179a395e3bd02b1606c77",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/10",
      "notes": [
        "Clarifies upright lifting while both grippers stay on the handles."
      ]
    },
    {
      "key": "task12/10-objects-plus-lift-pot",
      "id": "robotwin-plus/lift-pot-aloha-agilex-objects-plus",
      "title": "Lift pot",
      "native_task": "lift_pot",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "use BOTH!!! arms to lift the pot",
      "measured": "Use both arms to grasp the pot by its two handles and lift it well clear of the tabletop, keeping it upright. Keep each gripper centered on its handle while holding the pot up.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/lift_pot",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/lift_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/lift_pot.py",
      "catalog_path": "tasks/task12/catalog/10-objects-plus-lift-pot/task.yaml",
      "catalog_sha256": "e5ff88dde4b993592f12077de84c879f2712ef5e656064202394ecea988dc636",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/10",
      "notes": [
        "Clarifies upright lifting while both grippers stay on the handles."
      ]
    },
    {
      "key": "task12/10-robot-state-lift-pot",
      "id": "robotwin-plus/lift-pot-aloha-agilex-robot-state",
      "title": "Lift pot",
      "native_task": "lift_pot",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "use BOTH!!! arms to lift the pot",
      "measured": "Use both arms to grasp the pot by its two handles and lift it well clear of the tabletop, keeping it upright. Keep each gripper centered on its handle while holding the pot up.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/lift_pot",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/lift_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/lift_pot.py",
      "catalog_path": "tasks/task12/catalog/10-robot-state-lift-pot/task.yaml",
      "catalog_sha256": "ab05223c553cde8e27a77efb4fb3ebd37b10ab5e680d1dd7f1a078c07be259d4",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/10",
      "notes": [
        "Clarifies upright lifting while both grippers stay on the handles."
      ]
    },
    {
      "key": "task12/10-vision-noise-lift-pot",
      "id": "robotwin-plus/lift-pot-aloha-agilex-vision-noise",
      "title": "Lift pot",
      "native_task": "lift_pot",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "use BOTH!!! arms to lift the pot",
      "measured": "Use both arms to grasp the pot by its two handles and lift it well clear of the tabletop, keeping it upright. Keep each gripper centered on its handle while holding the pot up.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/lift_pot",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/lift_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/lift_pot.py",
      "catalog_path": "tasks/task12/catalog/10-vision-noise-lift-pot/task.yaml",
      "catalog_sha256": "ddd1c4d486c77c7fbbb03d865d2c97450fe7acce31d327b195bc5a5785d51a6c",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/10",
      "notes": [
        "Clarifies upright lifting while both grippers stay on the handles."
      ]
    },
    {
      "key": "task12/11-background-plus-adjust-bottle",
      "id": "robotwin-plus/adjust-bottle-aloha-agilex-background-plus",
      "title": "Adjust bottle",
      "native_task": "adjust_bottle",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "Pick up the bottle on the table headup with the correct arm",
      "measured": "Pick up the {bottle_description} head-up and hold it high toward the {side} edge of the table",
      "status": "changed",
      "bindings": {
        "bottle_description": "bottle.description",
        "side": "target_side"
      },
      "definition": "task_instruction/adjust_bottle",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/adjust_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/adjust_bottle.py",
      "catalog_path": "tasks/task12/catalog/11-background-plus-adjust-bottle/task.yaml",
      "catalog_sha256": "91d659dc8cdd6e8154e2e97cbdf3cb96d1ecbb78c51002f32a957b4630586fb7",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/11",
      "notes": [
        "Makes the episode-specific arm/side and bottle appearance explicit, together with the required lift.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/11-camera-adjust-bottle",
      "id": "robotwin-plus/adjust-bottle-aloha-agilex-camera",
      "title": "Adjust bottle",
      "native_task": "adjust_bottle",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "Pick up the bottle on the table headup with the correct arm",
      "measured": "Pick up the {bottle_description} head-up and hold it high toward the {side} edge of the table",
      "status": "changed",
      "bindings": {
        "bottle_description": "bottle.description",
        "side": "target_side"
      },
      "definition": "task_instruction/adjust_bottle",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/adjust_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/adjust_bottle.py",
      "catalog_path": "tasks/task12/catalog/11-camera-adjust-bottle/task.yaml",
      "catalog_sha256": "5e8ee5edbce0a01165daaefa897cf08da88d346696eec17fea569e1b5e80e02a",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/11",
      "notes": [
        "Makes the episode-specific arm/side and bottle appearance explicit, together with the required lift.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/11-clean-adjust-bottle",
      "id": "robotwin-plus/adjust-bottle-aloha-agilex-clean",
      "title": "Adjust bottle",
      "native_task": "adjust_bottle",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "Pick up the bottle on the table headup with the correct arm",
      "measured": "Pick up the {bottle_description} head-up and hold it high toward the {side} edge of the table",
      "status": "changed",
      "bindings": {
        "bottle_description": "bottle.description",
        "side": "target_side"
      },
      "definition": "task_instruction/adjust_bottle",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/adjust_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/adjust_bottle.py",
      "catalog_path": "tasks/task12/catalog/11-clean-adjust-bottle/task.yaml",
      "catalog_sha256": "0cf385d662f144647cc0348aaa1f8fe3802230e30e4ea7e839b7761987d1164b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/11",
      "notes": [
        "Makes the episode-specific arm/side and bottle appearance explicit, together with the required lift.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/11-language-plus-adjust-bottle",
      "id": "robotwin-plus/adjust-bottle-aloha-agilex-language-plus",
      "title": "Adjust bottle",
      "native_task": "adjust_bottle",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "Pick up the bottle on the table headup with the correct arm",
      "measured": "Pick up the {bottle_description} head-up and hold it high toward the {side} edge of the table",
      "status": "changed",
      "bindings": {
        "bottle_description": "bottle.description",
        "side": "target_side"
      },
      "definition": "task_instruction_plus/adjust_bottle",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/adjust_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/adjust_bottle.py",
      "catalog_path": "tasks/task12/catalog/11-language-plus-adjust-bottle/task.yaml",
      "catalog_sha256": "8446306d1c0f0a43e69dee6a6f18d9871858c9e99ef7accda04be3bf1a597f1d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/11",
      "notes": [
        "Makes the episode-specific arm/side and bottle appearance explicit, together with the required lift.",
        "Target descriptions are bound from the initialized scene.",
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/11-light-adjust-bottle",
      "id": "robotwin-plus/adjust-bottle-aloha-agilex-light",
      "title": "Adjust bottle",
      "native_task": "adjust_bottle",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "Pick up the bottle on the table headup with the correct arm",
      "measured": "Pick up the {bottle_description} head-up and hold it high toward the {side} edge of the table",
      "status": "changed",
      "bindings": {
        "bottle_description": "bottle.description",
        "side": "target_side"
      },
      "definition": "task_instruction/adjust_bottle",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/adjust_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/adjust_bottle.py",
      "catalog_path": "tasks/task12/catalog/11-light-adjust-bottle/task.yaml",
      "catalog_sha256": "c12e04f91ca982b818c546af7872ea82283598cec940cc9cd20494bb7e061e42",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/11",
      "notes": [
        "Makes the episode-specific arm/side and bottle appearance explicit, together with the required lift.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/11-objects-plus-adjust-bottle",
      "id": "robotwin-plus/adjust-bottle-aloha-agilex-objects-plus",
      "title": "Adjust bottle",
      "native_task": "adjust_bottle",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "Pick up the bottle on the table headup with the correct arm",
      "measured": "Pick up the {bottle_description} head-up and hold it high toward the {side} edge of the table",
      "status": "changed",
      "bindings": {
        "bottle_description": "bottle.description",
        "side": "target_side"
      },
      "definition": "task_instruction/adjust_bottle",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/adjust_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/adjust_bottle.py",
      "catalog_path": "tasks/task12/catalog/11-objects-plus-adjust-bottle/task.yaml",
      "catalog_sha256": "d7c08d1997e25b4dd469c2e658000bf9a829977765807f1f111b4ecbbb376514",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/11",
      "notes": [
        "Makes the episode-specific arm/side and bottle appearance explicit, together with the required lift.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/11-robot-state-adjust-bottle",
      "id": "robotwin-plus/adjust-bottle-aloha-agilex-robot-state",
      "title": "Adjust bottle",
      "native_task": "adjust_bottle",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "Pick up the bottle on the table headup with the correct arm",
      "measured": "Pick up the {bottle_description} head-up and hold it high toward the {side} edge of the table",
      "status": "changed",
      "bindings": {
        "bottle_description": "bottle.description",
        "side": "target_side"
      },
      "definition": "task_instruction/adjust_bottle",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/adjust_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/adjust_bottle.py",
      "catalog_path": "tasks/task12/catalog/11-robot-state-adjust-bottle/task.yaml",
      "catalog_sha256": "593d258135720ec020c82a8044ecc2e6e7fb87661bac4a0437d9a323870dcfe2",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/11",
      "notes": [
        "Makes the episode-specific arm/side and bottle appearance explicit, together with the required lift.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/11-vision-noise-adjust-bottle",
      "id": "robotwin-plus/adjust-bottle-aloha-agilex-vision-noise",
      "title": "Adjust bottle",
      "native_task": "adjust_bottle",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "Pick up the bottle on the table headup with the correct arm",
      "measured": "Pick up the {bottle_description} head-up and hold it high toward the {side} edge of the table",
      "status": "changed",
      "bindings": {
        "bottle_description": "bottle.description",
        "side": "target_side"
      },
      "definition": "task_instruction/adjust_bottle",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/adjust_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/adjust_bottle.py",
      "catalog_path": "tasks/task12/catalog/11-vision-noise-adjust-bottle/task.yaml",
      "catalog_sha256": "d383f8a3f863865e3f61528bab34b78d0e9820bd7b982cc5a72223a7a6bf2a29",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/11",
      "notes": [
        "Makes the episode-specific arm/side and bottle appearance explicit, together with the required lift.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/12-background-plus-beat-block-hammer",
      "id": "robotwin-plus/beat-block-hammer-aloha-agilex-background-plus",
      "title": "Beat block hammer",
      "native_task": "beat_block_hammer",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "there is a hammer and a block on the table, use the arm to <grab the hammer> and <beat the block>",
      "measured": "pick up the hammer and hit the center of the block",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/beat_block_hammer",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/beat_block_hammer.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/beat_block_hammer.py",
      "catalog_path": "tasks/task12/catalog/12-background-plus-beat-block-hammer/task.yaml",
      "catalog_sha256": "3ea60eb62c916b6ca1279c6847a360a600043603ecad2bf2ae06a25fd55b0869",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/12",
      "notes": []
    },
    {
      "key": "task12/12-camera-beat-block-hammer",
      "id": "robotwin-plus/beat-block-hammer-aloha-agilex-camera",
      "title": "Beat block hammer",
      "native_task": "beat_block_hammer",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "there is a hammer and a block on the table, use the arm to <grab the hammer> and <beat the block>",
      "measured": "pick up the hammer and hit the center of the block",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/beat_block_hammer",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/beat_block_hammer.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/beat_block_hammer.py",
      "catalog_path": "tasks/task12/catalog/12-camera-beat-block-hammer/task.yaml",
      "catalog_sha256": "43a9d8c3d90b7a396da0b12118cc83d13208c110409a882fcbe26f23738169c2",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/12",
      "notes": []
    },
    {
      "key": "task12/12-clean-beat-block-hammer",
      "id": "robotwin-plus/beat-block-hammer-aloha-agilex-clean",
      "title": "Beat block hammer",
      "native_task": "beat_block_hammer",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "there is a hammer and a block on the table, use the arm to <grab the hammer> and <beat the block>",
      "measured": "pick up the hammer and hit the center of the block",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/beat_block_hammer",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/beat_block_hammer.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/beat_block_hammer.py",
      "catalog_path": "tasks/task12/catalog/12-clean-beat-block-hammer/task.yaml",
      "catalog_sha256": "3e8afc5874e8abac94e53d86e3c25af4f7773b9d691d8b2f48cd4932add7be47",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/12",
      "notes": []
    },
    {
      "key": "task12/12-language-plus-beat-block-hammer",
      "id": "robotwin-plus/beat-block-hammer-aloha-agilex-language-plus",
      "title": "Beat block hammer",
      "native_task": "beat_block_hammer",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "there is a hammer and a block on the table, use the arm to <grab the hammer> and <beat the block>",
      "measured": "pick up the hammer and hit the center of the block",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/beat_block_hammer",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/beat_block_hammer.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/beat_block_hammer.py",
      "catalog_path": "tasks/task12/catalog/12-language-plus-beat-block-hammer/task.yaml",
      "catalog_sha256": "aeb526ec49bfc83ab51c9c5a3eeafaaa34640050965766141d1ffd2d767a1891",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/12",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/12-light-beat-block-hammer",
      "id": "robotwin-plus/beat-block-hammer-aloha-agilex-light",
      "title": "Beat block hammer",
      "native_task": "beat_block_hammer",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "there is a hammer and a block on the table, use the arm to <grab the hammer> and <beat the block>",
      "measured": "pick up the hammer and hit the center of the block",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/beat_block_hammer",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/beat_block_hammer.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/beat_block_hammer.py",
      "catalog_path": "tasks/task12/catalog/12-light-beat-block-hammer/task.yaml",
      "catalog_sha256": "84b966c8ade2f043ebc3d612586cb23ca98268931436a0cf8e77ced4d2640f3a",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/12",
      "notes": []
    },
    {
      "key": "task12/12-objects-plus-beat-block-hammer",
      "id": "robotwin-plus/beat-block-hammer-aloha-agilex-objects-plus",
      "title": "Beat block hammer",
      "native_task": "beat_block_hammer",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "there is a hammer and a block on the table, use the arm to <grab the hammer> and <beat the block>",
      "measured": "pick up the hammer and hit the center of the block",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/beat_block_hammer",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/beat_block_hammer.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/beat_block_hammer.py",
      "catalog_path": "tasks/task12/catalog/12-objects-plus-beat-block-hammer/task.yaml",
      "catalog_sha256": "994a2ff66c54070ea72cf77849ee22dfba7db86249b7e1e79ea541590704c622",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/12",
      "notes": []
    },
    {
      "key": "task12/12-robot-state-beat-block-hammer",
      "id": "robotwin-plus/beat-block-hammer-aloha-agilex-robot-state",
      "title": "Beat block hammer",
      "native_task": "beat_block_hammer",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "there is a hammer and a block on the table, use the arm to <grab the hammer> and <beat the block>",
      "measured": "pick up the hammer and hit the center of the block",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/beat_block_hammer",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/beat_block_hammer.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/beat_block_hammer.py",
      "catalog_path": "tasks/task12/catalog/12-robot-state-beat-block-hammer/task.yaml",
      "catalog_sha256": "5324fcaac387fd40725a56aed3d90f7dfd103b34af14a249ca607ad10ae5a290",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/12",
      "notes": []
    },
    {
      "key": "task12/12-vision-noise-beat-block-hammer",
      "id": "robotwin-plus/beat-block-hammer-aloha-agilex-vision-noise",
      "title": "Beat block hammer",
      "native_task": "beat_block_hammer",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "there is a hammer and a block on the table, use the arm to <grab the hammer> and <beat the block>",
      "measured": "pick up the hammer and hit the center of the block",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/beat_block_hammer",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/beat_block_hammer.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/beat_block_hammer.py",
      "catalog_path": "tasks/task12/catalog/12-vision-noise-beat-block-hammer/task.yaml",
      "catalog_sha256": "d5cc4de1e53e1cf3125b4e5e0112580281d1d30636f0ac135ffc240f480dbec2",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/12",
      "notes": []
    },
    {
      "key": "task12/13-background-plus-blocks-ranking-rgb",
      "id": "robotwin-plus/blocks-ranking-rgb-aloha-agilex-background-plus",
      "title": "Blocks ranking rgb",
      "native_task": "blocks_ranking_rgb",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "<Place> the red block, green block, and blue block <in the order> of red, green, and blue from left to right, <placing in a row>.",
      "measured": "Place the red, green, and blue blocks in a close horizontal row from left to right, then release them with both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/blocks_ranking_rgb",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/blocks_ranking_rgb.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_rgb.py",
      "catalog_path": "tasks/task12/catalog/13-background-plus-blocks-ranking-rgb/task.yaml",
      "catalog_sha256": "b783b10ba7b8da1d10b29a7c36be132f446d4f4ad91942038f0d8a67dad2d38d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/13",
      "notes": []
    },
    {
      "key": "task12/13-camera-blocks-ranking-rgb",
      "id": "robotwin-plus/blocks-ranking-rgb-aloha-agilex-camera",
      "title": "Blocks ranking rgb",
      "native_task": "blocks_ranking_rgb",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "<Place> the red block, green block, and blue block <in the order> of red, green, and blue from left to right, <placing in a row>.",
      "measured": "Place the red, green, and blue blocks in a close horizontal row from left to right, then release them with both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/blocks_ranking_rgb",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/blocks_ranking_rgb.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_rgb.py",
      "catalog_path": "tasks/task12/catalog/13-camera-blocks-ranking-rgb/task.yaml",
      "catalog_sha256": "d7002eaf3d89792cfac33621d45b201b26905112e43292059534fc481ca4f236",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/13",
      "notes": []
    },
    {
      "key": "task12/13-clean-blocks-ranking-rgb",
      "id": "robotwin-plus/blocks-ranking-rgb-aloha-agilex-clean",
      "title": "Blocks ranking rgb",
      "native_task": "blocks_ranking_rgb",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "<Place> the red block, green block, and blue block <in the order> of red, green, and blue from left to right, <placing in a row>.",
      "measured": "Place the red, green, and blue blocks in a close horizontal row from left to right, then release them with both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/blocks_ranking_rgb",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/blocks_ranking_rgb.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_rgb.py",
      "catalog_path": "tasks/task12/catalog/13-clean-blocks-ranking-rgb/task.yaml",
      "catalog_sha256": "2efa23912298874c1619a46b8f1845075753d8c16ebf78bbd650575ddffd74e7",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/13",
      "notes": []
    },
    {
      "key": "task12/13-language-plus-blocks-ranking-rgb",
      "id": "robotwin-plus/blocks-ranking-rgb-aloha-agilex-language-plus",
      "title": "Blocks ranking rgb",
      "native_task": "blocks_ranking_rgb",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "<Place> the red block, green block, and blue block <in the order> of red, green, and blue from left to right, <placing in a row>.",
      "measured": "Place the red, green, and blue blocks in a close horizontal row from left to right, then release them with both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/blocks_ranking_rgb",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/blocks_ranking_rgb.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_rgb.py",
      "catalog_path": "tasks/task12/catalog/13-language-plus-blocks-ranking-rgb/task.yaml",
      "catalog_sha256": "8c5238f5fbdff0952658192c6c04a41881ceb89495fe24a38c38db878e94b7cf",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/13",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/13-light-blocks-ranking-rgb",
      "id": "robotwin-plus/blocks-ranking-rgb-aloha-agilex-light",
      "title": "Blocks ranking rgb",
      "native_task": "blocks_ranking_rgb",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "<Place> the red block, green block, and blue block <in the order> of red, green, and blue from left to right, <placing in a row>.",
      "measured": "Place the red, green, and blue blocks in a close horizontal row from left to right, then release them with both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/blocks_ranking_rgb",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/blocks_ranking_rgb.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_rgb.py",
      "catalog_path": "tasks/task12/catalog/13-light-blocks-ranking-rgb/task.yaml",
      "catalog_sha256": "ec29e2576d8150c3e43b34dcd3f25ae03fac8c8cc0955d8c982a71bbd03ae59e",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/13",
      "notes": []
    },
    {
      "key": "task12/13-objects-plus-blocks-ranking-rgb",
      "id": "robotwin-plus/blocks-ranking-rgb-aloha-agilex-objects-plus",
      "title": "Blocks ranking rgb",
      "native_task": "blocks_ranking_rgb",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "<Place> the red block, green block, and blue block <in the order> of red, green, and blue from left to right, <placing in a row>.",
      "measured": "Place the red, green, and blue blocks in a close horizontal row from left to right, then release them with both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/blocks_ranking_rgb",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/blocks_ranking_rgb.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_rgb.py",
      "catalog_path": "tasks/task12/catalog/13-objects-plus-blocks-ranking-rgb/task.yaml",
      "catalog_sha256": "90cd8a09bc672e29359ce5cf7344ea13d3eacbe02d97c49090b44c12e7c42795",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/13",
      "notes": []
    },
    {
      "key": "task12/13-robot-state-blocks-ranking-rgb",
      "id": "robotwin-plus/blocks-ranking-rgb-aloha-agilex-robot-state",
      "title": "Blocks ranking rgb",
      "native_task": "blocks_ranking_rgb",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "<Place> the red block, green block, and blue block <in the order> of red, green, and blue from left to right, <placing in a row>.",
      "measured": "Place the red, green, and blue blocks in a close horizontal row from left to right, then release them with both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/blocks_ranking_rgb",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/blocks_ranking_rgb.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_rgb.py",
      "catalog_path": "tasks/task12/catalog/13-robot-state-blocks-ranking-rgb/task.yaml",
      "catalog_sha256": "35d5aec7ae5d06be3f8a0aad937117e4ea57860f92aa2ba9061d981a7221aa69",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/13",
      "notes": []
    },
    {
      "key": "task12/13-vision-noise-blocks-ranking-rgb",
      "id": "robotwin-plus/blocks-ranking-rgb-aloha-agilex-vision-noise",
      "title": "Blocks ranking rgb",
      "native_task": "blocks_ranking_rgb",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "<Place> the red block, green block, and blue block <in the order> of red, green, and blue from left to right, <placing in a row>.",
      "measured": "Place the red, green, and blue blocks in a close horizontal row from left to right, then release them with both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/blocks_ranking_rgb",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/blocks_ranking_rgb.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_rgb.py",
      "catalog_path": "tasks/task12/catalog/13-vision-noise-blocks-ranking-rgb/task.yaml",
      "catalog_sha256": "797af7df46b2f91a51516df9b5ae437322b3caedeb69be8a7c46b04a9ffb041d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/13",
      "notes": []
    },
    {
      "key": "task12/14-background-plus-click-alarmclock",
      "id": "robotwin-plus/click-alarmclock-aloha-agilex-background-plus",
      "title": "Click alarmclock",
      "native_task": "click_alarmclock",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "click the alarm clock's center of the top side button on the table",
      "measured": "click the center of the alarm clock's top button, keeping the gripper on the clock's side closed",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/click_alarmclock",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/click_alarmclock.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_alarmclock.py",
      "catalog_path": "tasks/task12/catalog/14-background-plus-click-alarmclock/task.yaml",
      "catalog_sha256": "82e8d4caf9225b3b569fb26dc32bd178d54ba5867f9a72a04aba28f00365433d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/14",
      "notes": []
    },
    {
      "key": "task12/14-camera-click-alarmclock",
      "id": "robotwin-plus/click-alarmclock-aloha-agilex-camera",
      "title": "Click alarmclock",
      "native_task": "click_alarmclock",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "click the alarm clock's center of the top side button on the table",
      "measured": "click the center of the alarm clock's top button, keeping the gripper on the clock's side closed",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/click_alarmclock",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/click_alarmclock.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_alarmclock.py",
      "catalog_path": "tasks/task12/catalog/14-camera-click-alarmclock/task.yaml",
      "catalog_sha256": "ca1ee80e4c5b7e993c01ce7f9162d2f6079967f88b0db6d5fe2367cf3df982f9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/14",
      "notes": []
    },
    {
      "key": "task12/14-clean-click-alarmclock",
      "id": "robotwin-plus/click-alarmclock-aloha-agilex-clean",
      "title": "Click alarmclock",
      "native_task": "click_alarmclock",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "click the alarm clock's center of the top side button on the table",
      "measured": "click the center of the alarm clock's top button, keeping the gripper on the clock's side closed",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/click_alarmclock",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/click_alarmclock.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_alarmclock.py",
      "catalog_path": "tasks/task12/catalog/14-clean-click-alarmclock/task.yaml",
      "catalog_sha256": "2f36ee730772890ec5952781b89a36d0a4d37c1a5a6f3840a4704246e6a077b4",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/14",
      "notes": []
    },
    {
      "key": "task12/14-language-plus-click-alarmclock",
      "id": "robotwin-plus/click-alarmclock-aloha-agilex-language-plus",
      "title": "Click alarmclock",
      "native_task": "click_alarmclock",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "click the alarm clock's center of the top side button on the table",
      "measured": "click the center of the alarm clock's top button, keeping the gripper on the clock's side closed",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/click_alarmclock",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/click_alarmclock.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_alarmclock.py",
      "catalog_path": "tasks/task12/catalog/14-language-plus-click-alarmclock/task.yaml",
      "catalog_sha256": "3e3b584b96a42602076f1ce712e794759e038c518ed710d2871d1f7fb7d04ead",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/14",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/14-light-click-alarmclock",
      "id": "robotwin-plus/click-alarmclock-aloha-agilex-light",
      "title": "Click alarmclock",
      "native_task": "click_alarmclock",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "click the alarm clock's center of the top side button on the table",
      "measured": "click the center of the alarm clock's top button, keeping the gripper on the clock's side closed",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/click_alarmclock",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/click_alarmclock.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_alarmclock.py",
      "catalog_path": "tasks/task12/catalog/14-light-click-alarmclock/task.yaml",
      "catalog_sha256": "80fa20d19743cffffaa4753bf46e68c00c380dec361a0656993b13386381d7d9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/14",
      "notes": []
    },
    {
      "key": "task12/14-objects-plus-click-alarmclock",
      "id": "robotwin-plus/click-alarmclock-aloha-agilex-objects-plus",
      "title": "Click alarmclock",
      "native_task": "click_alarmclock",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "click the alarm clock's center of the top side button on the table",
      "measured": "click the center of the alarm clock's top button, keeping the gripper on the clock's side closed",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/click_alarmclock",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/click_alarmclock.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_alarmclock.py",
      "catalog_path": "tasks/task12/catalog/14-objects-plus-click-alarmclock/task.yaml",
      "catalog_sha256": "17e6730eb7d36c58887eaf4748a37c8cc21caf94f2ff2b65b369f33fb848c353",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/14",
      "notes": []
    },
    {
      "key": "task12/14-robot-state-click-alarmclock",
      "id": "robotwin-plus/click-alarmclock-aloha-agilex-robot-state",
      "title": "Click alarmclock",
      "native_task": "click_alarmclock",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "click the alarm clock's center of the top side button on the table",
      "measured": "click the center of the alarm clock's top button, keeping the gripper on the clock's side closed",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/click_alarmclock",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/click_alarmclock.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_alarmclock.py",
      "catalog_path": "tasks/task12/catalog/14-robot-state-click-alarmclock/task.yaml",
      "catalog_sha256": "a4abda695c67c67acd8e82bf8d0e26a3b5e87e3a52259c083f9a32bef7d3f383",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/14",
      "notes": []
    },
    {
      "key": "task12/14-vision-noise-click-alarmclock",
      "id": "robotwin-plus/click-alarmclock-aloha-agilex-vision-noise",
      "title": "Click alarmclock",
      "native_task": "click_alarmclock",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "click the alarm clock's center of the top side button on the table",
      "measured": "click the center of the alarm clock's top button, keeping the gripper on the clock's side closed",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/click_alarmclock",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/click_alarmclock.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_alarmclock.py",
      "catalog_path": "tasks/task12/catalog/14-vision-noise-click-alarmclock/task.yaml",
      "catalog_sha256": "71377a9808fbe9a00cd0460fd3a4f252cac9675ad7388f8c14f04714274142e4",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/14",
      "notes": []
    },
    {
      "key": "task12/15-background-plus-click-bell",
      "id": "robotwin-plus/click-bell-aloha-agilex-background-plus",
      "title": "Click bell",
      "native_task": "click_bell",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "click the <bell's top center> on the table",
      "measured": "click the bell's top center, keeping the gripper on the bell's side closed",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/click_bell",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/click_bell.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_bell.py",
      "catalog_path": "tasks/task12/catalog/15-background-plus-click-bell/task.yaml",
      "catalog_sha256": "f78eb40d577144d756bd49edd58f86711c98f4a706a1740c8933e63ec3e918ba",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/15",
      "notes": []
    },
    {
      "key": "task12/15-camera-click-bell",
      "id": "robotwin-plus/click-bell-aloha-agilex-camera",
      "title": "Click bell",
      "native_task": "click_bell",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "click the <bell's top center> on the table",
      "measured": "click the bell's top center, keeping the gripper on the bell's side closed",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/click_bell",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/click_bell.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_bell.py",
      "catalog_path": "tasks/task12/catalog/15-camera-click-bell/task.yaml",
      "catalog_sha256": "e26a9f7f3d8694c1020b4dd901abf2b0b530029dfb45e0cc5607e23537c91415",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/15",
      "notes": []
    },
    {
      "key": "task12/15-clean-click-bell",
      "id": "robotwin-plus/click-bell-aloha-agilex-clean",
      "title": "Click bell",
      "native_task": "click_bell",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "click the <bell's top center> on the table",
      "measured": "click the bell's top center, keeping the gripper on the bell's side closed",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/click_bell",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/click_bell.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_bell.py",
      "catalog_path": "tasks/task12/catalog/15-clean-click-bell/task.yaml",
      "catalog_sha256": "cde1352816a24984ac1bbb0e0df947d5081a6d47682f950b5fb7b8c738df68bf",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/15",
      "notes": []
    },
    {
      "key": "task12/15-language-plus-click-bell",
      "id": "robotwin-plus/click-bell-aloha-agilex-language-plus",
      "title": "Click bell",
      "native_task": "click_bell",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "click the <bell's top center> on the table",
      "measured": "click the bell's top center, keeping the gripper on the bell's side closed",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/click_bell",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/click_bell.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_bell.py",
      "catalog_path": "tasks/task12/catalog/15-language-plus-click-bell/task.yaml",
      "catalog_sha256": "3a1fdca045fc466ae320d02ea60a58152a0e4bde9926c71b0a6f00b310abd151",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/15",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/15-light-click-bell",
      "id": "robotwin-plus/click-bell-aloha-agilex-light",
      "title": "Click bell",
      "native_task": "click_bell",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "click the <bell's top center> on the table",
      "measured": "click the bell's top center, keeping the gripper on the bell's side closed",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/click_bell",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/click_bell.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_bell.py",
      "catalog_path": "tasks/task12/catalog/15-light-click-bell/task.yaml",
      "catalog_sha256": "8772ae151e4da45ce39326a1875a35b0a9547cede8ffab59563a869ca8f7b5bb",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/15",
      "notes": []
    },
    {
      "key": "task12/15-objects-plus-click-bell",
      "id": "robotwin-plus/click-bell-aloha-agilex-objects-plus",
      "title": "Click bell",
      "native_task": "click_bell",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "click the <bell's top center> on the table",
      "measured": "click the bell's top center, keeping the gripper on the bell's side closed",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/click_bell",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/click_bell.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_bell.py",
      "catalog_path": "tasks/task12/catalog/15-objects-plus-click-bell/task.yaml",
      "catalog_sha256": "26d24f74eb9e6b987b3d97f4ec3b963ac970960ad90915d1d84c83b7160a9ce5",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/15",
      "notes": []
    },
    {
      "key": "task12/15-robot-state-click-bell",
      "id": "robotwin-plus/click-bell-aloha-agilex-robot-state",
      "title": "Click bell",
      "native_task": "click_bell",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "click the <bell's top center> on the table",
      "measured": "click the bell's top center, keeping the gripper on the bell's side closed",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/click_bell",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/click_bell.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_bell.py",
      "catalog_path": "tasks/task12/catalog/15-robot-state-click-bell/task.yaml",
      "catalog_sha256": "34396268c5281e4468da07809dcde144567517669e07733f0394d754a6616d1c",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/15",
      "notes": []
    },
    {
      "key": "task12/15-vision-noise-click-bell",
      "id": "robotwin-plus/click-bell-aloha-agilex-vision-noise",
      "title": "Click bell",
      "native_task": "click_bell",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "click the <bell's top center> on the table",
      "measured": "click the bell's top center, keeping the gripper on the bell's side closed",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/click_bell",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/click_bell.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_bell.py",
      "catalog_path": "tasks/task12/catalog/15-vision-noise-click-bell/task.yaml",
      "catalog_sha256": "009aa6577fd024b9718252422bf52ffa2fc8a99fd4e51532a0ab169710c8aa6d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/15",
      "notes": []
    },
    {
      "key": "task12/16-background-plus-dump-bin-bigbin",
      "id": "robotwin-plus/dump-bin-bigbin-aloha-agilex-background-plus",
      "title": "Dump bin bigbin",
      "native_task": "dump_bin_bigbin",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "Grab the small bin and pour the balls into the big bin",
      "measured": "Grab the small bin and pour the balls into the big bin, keeping the empty small bin held high",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/dump_bin_bigbin",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/dump_bin_bigbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/dump_bin_bigbin.py",
      "catalog_path": "tasks/task12/catalog/16-background-plus-dump-bin-bigbin/task.yaml",
      "catalog_sha256": "9f3758fa438301e698460018c122ca767a01afdc8a16c9118125ac076531730f",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/16",
      "notes": [
        "The goal names the pouring destination and held bin; the native predicate checks object heights only."
      ]
    },
    {
      "key": "task12/16-camera-dump-bin-bigbin",
      "id": "robotwin-plus/dump-bin-bigbin-aloha-agilex-camera",
      "title": "Dump bin bigbin",
      "native_task": "dump_bin_bigbin",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "Grab the small bin and pour the balls into the big bin",
      "measured": "Grab the small bin and pour the balls into the big bin, keeping the empty small bin held high",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/dump_bin_bigbin",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/dump_bin_bigbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/dump_bin_bigbin.py",
      "catalog_path": "tasks/task12/catalog/16-camera-dump-bin-bigbin/task.yaml",
      "catalog_sha256": "97599328ece2dac9fca2964068d98029f0c2eb0b761d23a44364dfa7aa38279f",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/16",
      "notes": [
        "The goal names the pouring destination and held bin; the native predicate checks object heights only."
      ]
    },
    {
      "key": "task12/16-clean-dump-bin-bigbin",
      "id": "robotwin-plus/dump-bin-bigbin-aloha-agilex-clean",
      "title": "Dump bin bigbin",
      "native_task": "dump_bin_bigbin",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "Grab the small bin and pour the balls into the big bin",
      "measured": "Grab the small bin and pour the balls into the big bin, keeping the empty small bin held high",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/dump_bin_bigbin",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/dump_bin_bigbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/dump_bin_bigbin.py",
      "catalog_path": "tasks/task12/catalog/16-clean-dump-bin-bigbin/task.yaml",
      "catalog_sha256": "fa0f0fb966a5bc68c9dd8264a08db8b565580c365339544dfcb8bcf60852c105",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/16",
      "notes": [
        "The goal names the pouring destination and held bin; the native predicate checks object heights only."
      ]
    },
    {
      "key": "task12/16-language-plus-dump-bin-bigbin",
      "id": "robotwin-plus/dump-bin-bigbin-aloha-agilex-language-plus",
      "title": "Dump bin bigbin",
      "native_task": "dump_bin_bigbin",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "Grab the small bin and pour the balls into the big bin",
      "measured": "Grab the small bin and pour the balls into the big bin, keeping the empty small bin held high",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/dump_bin_bigbin",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/dump_bin_bigbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/dump_bin_bigbin.py",
      "catalog_path": "tasks/task12/catalog/16-language-plus-dump-bin-bigbin/task.yaml",
      "catalog_sha256": "5f015817914fb85a09e60fc5c764b1c9fda9afd8f7aa0cca77611db1a78a1d9f",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/16",
      "notes": [
        "The goal names the pouring destination and held bin; the native predicate checks object heights only.",
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/16-light-dump-bin-bigbin",
      "id": "robotwin-plus/dump-bin-bigbin-aloha-agilex-light",
      "title": "Dump bin bigbin",
      "native_task": "dump_bin_bigbin",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "Grab the small bin and pour the balls into the big bin",
      "measured": "Grab the small bin and pour the balls into the big bin, keeping the empty small bin held high",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/dump_bin_bigbin",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/dump_bin_bigbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/dump_bin_bigbin.py",
      "catalog_path": "tasks/task12/catalog/16-light-dump-bin-bigbin/task.yaml",
      "catalog_sha256": "516942238aa806ca638a5b74c980052a12d54ab45a6c7a5108e1877513224ddd",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/16",
      "notes": [
        "The goal names the pouring destination and held bin; the native predicate checks object heights only."
      ]
    },
    {
      "key": "task12/16-objects-plus-dump-bin-bigbin",
      "id": "robotwin-plus/dump-bin-bigbin-aloha-agilex-objects-plus",
      "title": "Dump bin bigbin",
      "native_task": "dump_bin_bigbin",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "Grab the small bin and pour the balls into the big bin",
      "measured": "Grab the small bin and pour the balls into the big bin, keeping the empty small bin held high",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/dump_bin_bigbin",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/dump_bin_bigbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/dump_bin_bigbin.py",
      "catalog_path": "tasks/task12/catalog/16-objects-plus-dump-bin-bigbin/task.yaml",
      "catalog_sha256": "a22f5e9352d06ced09678189b8e17fed5179ffb67e024f4f25894b04a3b244f2",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/16",
      "notes": [
        "The goal names the pouring destination and held bin; the native predicate checks object heights only."
      ]
    },
    {
      "key": "task12/16-robot-state-dump-bin-bigbin",
      "id": "robotwin-plus/dump-bin-bigbin-aloha-agilex-robot-state",
      "title": "Dump bin bigbin",
      "native_task": "dump_bin_bigbin",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "Grab the small bin and pour the balls into the big bin",
      "measured": "Grab the small bin and pour the balls into the big bin, keeping the empty small bin held high",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/dump_bin_bigbin",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/dump_bin_bigbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/dump_bin_bigbin.py",
      "catalog_path": "tasks/task12/catalog/16-robot-state-dump-bin-bigbin/task.yaml",
      "catalog_sha256": "7fcdb72a6bfec2b1509cc7cb9137b33d34e4dc39afcb64c4937d04f27ef03401",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/16",
      "notes": [
        "The goal names the pouring destination and held bin; the native predicate checks object heights only."
      ]
    },
    {
      "key": "task12/16-vision-noise-dump-bin-bigbin",
      "id": "robotwin-plus/dump-bin-bigbin-aloha-agilex-vision-noise",
      "title": "Dump bin bigbin",
      "native_task": "dump_bin_bigbin",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "Grab the small bin and pour the balls into the big bin",
      "measured": "Grab the small bin and pour the balls into the big bin, keeping the empty small bin held high",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/dump_bin_bigbin",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/dump_bin_bigbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/dump_bin_bigbin.py",
      "catalog_path": "tasks/task12/catalog/16-vision-noise-dump-bin-bigbin/task.yaml",
      "catalog_sha256": "f140e981732fabe674576ee85ab9c91ff0962b2eb6a939304391cca1d952eeb0",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/16",
      "notes": [
        "The goal names the pouring destination and held bin; the native predicate checks object heights only."
      ]
    },
    {
      "key": "task12/17-background-plus-grab-roller",
      "id": "robotwin-plus/grab-roller-aloha-agilex-background-plus",
      "title": "Grab roller",
      "native_task": "grab_roller",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "use both arms to grab the roller on the table",
      "measured": "use both grippers to grasp the roller and lift it well clear of the table. Keep both grippers closed while holding it up",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/grab_roller",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/grab_roller.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/grab_roller.py",
      "catalog_path": "tasks/task12/catalog/17-background-plus-grab-roller/task.yaml",
      "catalog_sha256": "778daa009827baf89b73d2eff4c6d98db7f11603027ec2a451775244ea0afedb",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/17",
      "notes": []
    },
    {
      "key": "task12/17-camera-grab-roller",
      "id": "robotwin-plus/grab-roller-aloha-agilex-camera",
      "title": "Grab roller",
      "native_task": "grab_roller",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "use both arms to grab the roller on the table",
      "measured": "use both grippers to grasp the roller and lift it well clear of the table. Keep both grippers closed while holding it up",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/grab_roller",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/grab_roller.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/grab_roller.py",
      "catalog_path": "tasks/task12/catalog/17-camera-grab-roller/task.yaml",
      "catalog_sha256": "1b8db01a1dc7bf232c5eae320feceb97c4fae0326cae4c959074fdd58c0e793e",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/17",
      "notes": []
    },
    {
      "key": "task12/17-clean-grab-roller",
      "id": "robotwin-plus/grab-roller-aloha-agilex-clean",
      "title": "Grab roller",
      "native_task": "grab_roller",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "use both arms to grab the roller on the table",
      "measured": "use both grippers to grasp the roller and lift it well clear of the table. Keep both grippers closed while holding it up",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/grab_roller",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/grab_roller.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/grab_roller.py",
      "catalog_path": "tasks/task12/catalog/17-clean-grab-roller/task.yaml",
      "catalog_sha256": "5bc212e94c43a7dbb7fbc5732bdebdf7f12b9ece8c8659ce9f6d006035121d67",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/17",
      "notes": []
    },
    {
      "key": "task12/17-language-plus-grab-roller",
      "id": "robotwin-plus/grab-roller-aloha-agilex-language-plus",
      "title": "Grab roller",
      "native_task": "grab_roller",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "use both arms to grab the roller on the table",
      "measured": "use both grippers to grasp the roller and lift it well clear of the table. Keep both grippers closed while holding it up",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/grab_roller",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/grab_roller.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/grab_roller.py",
      "catalog_path": "tasks/task12/catalog/17-language-plus-grab-roller/task.yaml",
      "catalog_sha256": "9cb712a649aa54ae78d355cd90500facc10f483fffdf16e6d6607bf4619d25f9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/17",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/17-light-grab-roller",
      "id": "robotwin-plus/grab-roller-aloha-agilex-light",
      "title": "Grab roller",
      "native_task": "grab_roller",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "use both arms to grab the roller on the table",
      "measured": "use both grippers to grasp the roller and lift it well clear of the table. Keep both grippers closed while holding it up",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/grab_roller",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/grab_roller.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/grab_roller.py",
      "catalog_path": "tasks/task12/catalog/17-light-grab-roller/task.yaml",
      "catalog_sha256": "707330e7d0099135dcbd8346c4cda897ecbad7430d1fc07cd59d54850e61c62a",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/17",
      "notes": []
    },
    {
      "key": "task12/17-objects-plus-grab-roller",
      "id": "robotwin-plus/grab-roller-aloha-agilex-objects-plus",
      "title": "Grab roller",
      "native_task": "grab_roller",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "use both arms to grab the roller on the table",
      "measured": "use both grippers to grasp the roller and lift it well clear of the table. Keep both grippers closed while holding it up",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/grab_roller",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/grab_roller.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/grab_roller.py",
      "catalog_path": "tasks/task12/catalog/17-objects-plus-grab-roller/task.yaml",
      "catalog_sha256": "34d9e5b02d19bc710d5ebd5f42260b9d4a384f29acfd2231456a067b96070050",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/17",
      "notes": []
    },
    {
      "key": "task12/17-robot-state-grab-roller",
      "id": "robotwin-plus/grab-roller-aloha-agilex-robot-state",
      "title": "Grab roller",
      "native_task": "grab_roller",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "use both arms to grab the roller on the table",
      "measured": "use both grippers to grasp the roller and lift it well clear of the table. Keep both grippers closed while holding it up",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/grab_roller",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/grab_roller.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/grab_roller.py",
      "catalog_path": "tasks/task12/catalog/17-robot-state-grab-roller/task.yaml",
      "catalog_sha256": "d3928e4bb079d04d1afe9740e755f906760c7494dfb7d8090ce4598a320f88dd",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/17",
      "notes": []
    },
    {
      "key": "task12/17-vision-noise-grab-roller",
      "id": "robotwin-plus/grab-roller-aloha-agilex-vision-noise",
      "title": "Grab roller",
      "native_task": "grab_roller",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "use both arms to grab the roller on the table",
      "measured": "use both grippers to grasp the roller and lift it well clear of the table. Keep both grippers closed while holding it up",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/grab_roller",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/grab_roller.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/grab_roller.py",
      "catalog_path": "tasks/task12/catalog/17-vision-noise-grab-roller/task.yaml",
      "catalog_sha256": "2ea061d84aa6893f628075b34806ff6abf5ae9f729123c2b31abc081f452ee6b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/17",
      "notes": []
    },
    {
      "key": "task12/18-background-plus-handover-mic",
      "id": "robotwin-plus/handover-mic-aloha-agilex-background-plus",
      "title": "Handover mic",
      "native_task": "handover_mic",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "Use one arm to grasp the microphone on the table and handover it to the other arm",
      "measured": "Hand the microphone to the arm opposite its starting side and hold it high on that side. Keep the receiving gripper closed around the microphone and the other gripper open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/handover_mic",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/handover_mic.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_mic.py",
      "catalog_path": "tasks/task12/catalog/18-background-plus-handover-mic/task.yaml",
      "catalog_sha256": "237d9f6e55bd4bc51297b118f496fc9c138e63cf1bedcc264413987b34d9e1ef",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/18",
      "notes": [
        "Specifies the receiving arm, high final hold and the two gripper states."
      ]
    },
    {
      "key": "task12/18-camera-handover-mic",
      "id": "robotwin-plus/handover-mic-aloha-agilex-camera",
      "title": "Handover mic",
      "native_task": "handover_mic",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "Use one arm to grasp the microphone on the table and handover it to the other arm",
      "measured": "Hand the microphone to the arm opposite its starting side and hold it high on that side. Keep the receiving gripper closed around the microphone and the other gripper open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/handover_mic",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/handover_mic.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_mic.py",
      "catalog_path": "tasks/task12/catalog/18-camera-handover-mic/task.yaml",
      "catalog_sha256": "a9ab8db0fc1acd0966d7db824681af58c218b647d514326445e65bec77c8e540",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/18",
      "notes": [
        "Specifies the receiving arm, high final hold and the two gripper states."
      ]
    },
    {
      "key": "task12/18-clean-handover-mic",
      "id": "robotwin-plus/handover-mic-aloha-agilex-clean",
      "title": "Handover mic",
      "native_task": "handover_mic",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "Use one arm to grasp the microphone on the table and handover it to the other arm",
      "measured": "Hand the microphone to the arm opposite its starting side and hold it high on that side. Keep the receiving gripper closed around the microphone and the other gripper open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/handover_mic",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/handover_mic.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_mic.py",
      "catalog_path": "tasks/task12/catalog/18-clean-handover-mic/task.yaml",
      "catalog_sha256": "370541d73951add7ba83535f333f6bdaad7084cdb6c9d923dfe595f70dfea905",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/18",
      "notes": [
        "Specifies the receiving arm, high final hold and the two gripper states."
      ]
    },
    {
      "key": "task12/18-language-plus-handover-mic",
      "id": "robotwin-plus/handover-mic-aloha-agilex-language-plus",
      "title": "Handover mic",
      "native_task": "handover_mic",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "Use one arm to grasp the microphone on the table and handover it to the other arm",
      "measured": "Hand the microphone to the arm opposite its starting side and hold it high on that side. Keep the receiving gripper closed around the microphone and the other gripper open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/handover_mic",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/handover_mic.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_mic.py",
      "catalog_path": "tasks/task12/catalog/18-language-plus-handover-mic/task.yaml",
      "catalog_sha256": "68856e9fa525f157865422028b886b003ab1a0b70a836dbce44e6e3cfb37f38d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/18",
      "notes": [
        "Specifies the receiving arm, high final hold and the two gripper states.",
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/18-light-handover-mic",
      "id": "robotwin-plus/handover-mic-aloha-agilex-light",
      "title": "Handover mic",
      "native_task": "handover_mic",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "Use one arm to grasp the microphone on the table and handover it to the other arm",
      "measured": "Hand the microphone to the arm opposite its starting side and hold it high on that side. Keep the receiving gripper closed around the microphone and the other gripper open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/handover_mic",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/handover_mic.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_mic.py",
      "catalog_path": "tasks/task12/catalog/18-light-handover-mic/task.yaml",
      "catalog_sha256": "ae671829ce225958b69ea1d69bb981c1d740cf3c17f27ab2633db21f3f00bcaa",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/18",
      "notes": [
        "Specifies the receiving arm, high final hold and the two gripper states."
      ]
    },
    {
      "key": "task12/18-objects-plus-handover-mic",
      "id": "robotwin-plus/handover-mic-aloha-agilex-objects-plus",
      "title": "Handover mic",
      "native_task": "handover_mic",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "Use one arm to grasp the microphone on the table and handover it to the other arm",
      "measured": "Hand the microphone to the arm opposite its starting side and hold it high on that side. Keep the receiving gripper closed around the microphone and the other gripper open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/handover_mic",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/handover_mic.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_mic.py",
      "catalog_path": "tasks/task12/catalog/18-objects-plus-handover-mic/task.yaml",
      "catalog_sha256": "18ff67d775e340b6e75940a12b6435f7ad16f5754c125750f53880ccc17a7eeb",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/18",
      "notes": [
        "Specifies the receiving arm, high final hold and the two gripper states."
      ]
    },
    {
      "key": "task12/18-robot-state-handover-mic",
      "id": "robotwin-plus/handover-mic-aloha-agilex-robot-state",
      "title": "Handover mic",
      "native_task": "handover_mic",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "Use one arm to grasp the microphone on the table and handover it to the other arm",
      "measured": "Hand the microphone to the arm opposite its starting side and hold it high on that side. Keep the receiving gripper closed around the microphone and the other gripper open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/handover_mic",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/handover_mic.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_mic.py",
      "catalog_path": "tasks/task12/catalog/18-robot-state-handover-mic/task.yaml",
      "catalog_sha256": "e39792460991dbfe805850600cdf1e0a77983926bd1cfaef8a189bfc6bc01f9b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/18",
      "notes": [
        "Specifies the receiving arm, high final hold and the two gripper states."
      ]
    },
    {
      "key": "task12/18-vision-noise-handover-mic",
      "id": "robotwin-plus/handover-mic-aloha-agilex-vision-noise",
      "title": "Handover mic",
      "native_task": "handover_mic",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "Use one arm to grasp the microphone on the table and handover it to the other arm",
      "measured": "Hand the microphone to the arm opposite its starting side and hold it high on that side. Keep the receiving gripper closed around the microphone and the other gripper open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/handover_mic",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/handover_mic.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_mic.py",
      "catalog_path": "tasks/task12/catalog/18-vision-noise-handover-mic/task.yaml",
      "catalog_sha256": "2ab6875135a9d9bd43bb0d31fff52cdde239391daeafeb13a58d8418e0d70300",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/18",
      "notes": [
        "Specifies the receiving arm, high final hold and the two gripper states."
      ]
    },
    {
      "key": "task12/19-background-plus-move-can-pot",
      "id": "robotwin-plus/move-can-pot-aloha-agilex-background-plus",
      "title": "Move can pot",
      "native_task": "move_can_pot",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "there is a can and a pot on the table, use one arm to <pick up the can> and <move it to beside the pot>",
      "measured": "place the can upright directly beside the pot on the can's starting side. Leave both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_can_pot",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_can_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_can_pot.py",
      "catalog_path": "tasks/task12/catalog/19-background-plus-move-can-pot/task.yaml",
      "catalog_sha256": "07627da9ac4e921c2929aa8106e3d652d40e0bda215cd5b9aa059f94359d5232",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/19",
      "notes": []
    },
    {
      "key": "task12/19-camera-move-can-pot",
      "id": "robotwin-plus/move-can-pot-aloha-agilex-camera",
      "title": "Move can pot",
      "native_task": "move_can_pot",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "there is a can and a pot on the table, use one arm to <pick up the can> and <move it to beside the pot>",
      "measured": "place the can upright directly beside the pot on the can's starting side. Leave both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_can_pot",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_can_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_can_pot.py",
      "catalog_path": "tasks/task12/catalog/19-camera-move-can-pot/task.yaml",
      "catalog_sha256": "7362ff235d17eee417b4dbc31e31147b44a66de8a8c3ac54ffea85a0e8bca11f",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/19",
      "notes": []
    },
    {
      "key": "task12/19-clean-move-can-pot",
      "id": "robotwin-plus/move-can-pot-aloha-agilex-clean",
      "title": "Move can pot",
      "native_task": "move_can_pot",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "there is a can and a pot on the table, use one arm to <pick up the can> and <move it to beside the pot>",
      "measured": "place the can upright directly beside the pot on the can's starting side. Leave both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_can_pot",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_can_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_can_pot.py",
      "catalog_path": "tasks/task12/catalog/19-clean-move-can-pot/task.yaml",
      "catalog_sha256": "2d73d47ba670d9600406c531f38ce0afefc1e6633ce93fdda35afd930e44cc41",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/19",
      "notes": []
    },
    {
      "key": "task12/19-language-plus-move-can-pot",
      "id": "robotwin-plus/move-can-pot-aloha-agilex-language-plus",
      "title": "Move can pot",
      "native_task": "move_can_pot",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "there is a can and a pot on the table, use one arm to <pick up the can> and <move it to beside the pot>",
      "measured": "place the can upright directly beside the pot on the can's starting side. Leave both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/move_can_pot",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/move_can_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_can_pot.py",
      "catalog_path": "tasks/task12/catalog/19-language-plus-move-can-pot/task.yaml",
      "catalog_sha256": "64ca61fc4c8f9e00a221d955776fec4591d178f6915bd68259ef56e9127fbcc0",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/19",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/19-light-move-can-pot",
      "id": "robotwin-plus/move-can-pot-aloha-agilex-light",
      "title": "Move can pot",
      "native_task": "move_can_pot",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "there is a can and a pot on the table, use one arm to <pick up the can> and <move it to beside the pot>",
      "measured": "place the can upright directly beside the pot on the can's starting side. Leave both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_can_pot",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_can_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_can_pot.py",
      "catalog_path": "tasks/task12/catalog/19-light-move-can-pot/task.yaml",
      "catalog_sha256": "3abec2f51acf575e9f80d9a29059c4b56cd91246f3bb5a8ec9d6e8733f0e48d9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/19",
      "notes": []
    },
    {
      "key": "task12/19-objects-plus-move-can-pot",
      "id": "robotwin-plus/move-can-pot-aloha-agilex-objects-plus",
      "title": "Move can pot",
      "native_task": "move_can_pot",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "there is a can and a pot on the table, use one arm to <pick up the can> and <move it to beside the pot>",
      "measured": "place the can upright directly beside the pot on the can's starting side. Leave both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_can_pot",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_can_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_can_pot.py",
      "catalog_path": "tasks/task12/catalog/19-objects-plus-move-can-pot/task.yaml",
      "catalog_sha256": "2b6e51866169fe180086f98c1d1607633675989f5bfd94e109cc758fdd0da651",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/19",
      "notes": []
    },
    {
      "key": "task12/19-robot-state-move-can-pot",
      "id": "robotwin-plus/move-can-pot-aloha-agilex-robot-state",
      "title": "Move can pot",
      "native_task": "move_can_pot",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "there is a can and a pot on the table, use one arm to <pick up the can> and <move it to beside the pot>",
      "measured": "place the can upright directly beside the pot on the can's starting side. Leave both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_can_pot",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_can_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_can_pot.py",
      "catalog_path": "tasks/task12/catalog/19-robot-state-move-can-pot/task.yaml",
      "catalog_sha256": "0a718367ec1130f08b2b939175aad202c849e398346ad6dd337107b59895f831",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/19",
      "notes": []
    },
    {
      "key": "task12/19-vision-noise-move-can-pot",
      "id": "robotwin-plus/move-can-pot-aloha-agilex-vision-noise",
      "title": "Move can pot",
      "native_task": "move_can_pot",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "there is a can and a pot on the table, use one arm to <pick up the can> and <move it to beside the pot>",
      "measured": "place the can upright directly beside the pot on the can's starting side. Leave both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_can_pot",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_can_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_can_pot.py",
      "catalog_path": "tasks/task12/catalog/19-vision-noise-move-can-pot/task.yaml",
      "catalog_sha256": "606c12232dcdef2ce00221c686a1f80a308476d64c56e57ebae667bb7a56121a",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/19",
      "notes": []
    },
    {
      "key": "task12/20-background-plus-move-pillbottle-pad",
      "id": "robotwin-plus/move-pillbottle-pad-aloha-agilex-background-plus",
      "title": "Move pillbottle pad",
      "native_task": "move_pillbottle_pad",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "Use one arm to pick the pillbottle and place it onto the pad.",
      "measured": "Pick up the pill bottle and set it down in the center of the pad. Release it with both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_pillbottle_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_pillbottle_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_pillbottle_pad.py",
      "catalog_path": "tasks/task12/catalog/20-background-plus-move-pillbottle-pad/task.yaml",
      "catalog_sha256": "885ab3c6363c3acb62dd319dd91682d6f994c2d0eea92186e5689f75784c5306",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/20",
      "notes": []
    },
    {
      "key": "task12/20-camera-move-pillbottle-pad",
      "id": "robotwin-plus/move-pillbottle-pad-aloha-agilex-camera",
      "title": "Move pillbottle pad",
      "native_task": "move_pillbottle_pad",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "Use one arm to pick the pillbottle and place it onto the pad.",
      "measured": "Pick up the pill bottle and set it down in the center of the pad. Release it with both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_pillbottle_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_pillbottle_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_pillbottle_pad.py",
      "catalog_path": "tasks/task12/catalog/20-camera-move-pillbottle-pad/task.yaml",
      "catalog_sha256": "85518e8a70dceba80ad496f46f5406b56d894395a779390a0814eb2853e7988d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/20",
      "notes": []
    },
    {
      "key": "task12/20-clean-move-pillbottle-pad",
      "id": "robotwin-plus/move-pillbottle-pad-aloha-agilex-clean",
      "title": "Move pillbottle pad",
      "native_task": "move_pillbottle_pad",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "Use one arm to pick the pillbottle and place it onto the pad.",
      "measured": "Pick up the pill bottle and set it down in the center of the pad. Release it with both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_pillbottle_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_pillbottle_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_pillbottle_pad.py",
      "catalog_path": "tasks/task12/catalog/20-clean-move-pillbottle-pad/task.yaml",
      "catalog_sha256": "f8b486502fac6b26cdf53175a94e4ae5ed02b79962b70b98dcb1bc5c867e7a92",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/20",
      "notes": []
    },
    {
      "key": "task12/20-language-plus-move-pillbottle-pad",
      "id": "robotwin-plus/move-pillbottle-pad-aloha-agilex-language-plus",
      "title": "Move pillbottle pad",
      "native_task": "move_pillbottle_pad",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "Use one arm to pick the pillbottle and place it onto the pad.",
      "measured": "Pick up the pill bottle and set it down in the center of the pad. Release it with both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/move_pillbottle_pad",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/move_pillbottle_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_pillbottle_pad.py",
      "catalog_path": "tasks/task12/catalog/20-language-plus-move-pillbottle-pad/task.yaml",
      "catalog_sha256": "ba09130e2aaff35af4f491098e286091023b7128ac31231b6a15d85986428adb",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/20",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/20-light-move-pillbottle-pad",
      "id": "robotwin-plus/move-pillbottle-pad-aloha-agilex-light",
      "title": "Move pillbottle pad",
      "native_task": "move_pillbottle_pad",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "Use one arm to pick the pillbottle and place it onto the pad.",
      "measured": "Pick up the pill bottle and set it down in the center of the pad. Release it with both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_pillbottle_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_pillbottle_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_pillbottle_pad.py",
      "catalog_path": "tasks/task12/catalog/20-light-move-pillbottle-pad/task.yaml",
      "catalog_sha256": "4d9a57f5277a067eee93512b260131ab0a1e4c45c3a809606ca02a453777be3e",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/20",
      "notes": []
    },
    {
      "key": "task12/20-objects-plus-move-pillbottle-pad",
      "id": "robotwin-plus/move-pillbottle-pad-aloha-agilex-objects-plus",
      "title": "Move pillbottle pad",
      "native_task": "move_pillbottle_pad",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "Use one arm to pick the pillbottle and place it onto the pad.",
      "measured": "Pick up the pill bottle and set it down in the center of the pad. Release it with both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_pillbottle_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_pillbottle_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_pillbottle_pad.py",
      "catalog_path": "tasks/task12/catalog/20-objects-plus-move-pillbottle-pad/task.yaml",
      "catalog_sha256": "3b7f0fedda749c902fab8588611daf1f26dda66ab7edfb97135707d85e9ad2d4",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/20",
      "notes": []
    },
    {
      "key": "task12/20-robot-state-move-pillbottle-pad",
      "id": "robotwin-plus/move-pillbottle-pad-aloha-agilex-robot-state",
      "title": "Move pillbottle pad",
      "native_task": "move_pillbottle_pad",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "Use one arm to pick the pillbottle and place it onto the pad.",
      "measured": "Pick up the pill bottle and set it down in the center of the pad. Release it with both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_pillbottle_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_pillbottle_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_pillbottle_pad.py",
      "catalog_path": "tasks/task12/catalog/20-robot-state-move-pillbottle-pad/task.yaml",
      "catalog_sha256": "82e4a9c0966b73598dc6564dd475eb233a7c7a37854d6970c77251209b4194fb",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/20",
      "notes": []
    },
    {
      "key": "task12/20-vision-noise-move-pillbottle-pad",
      "id": "robotwin-plus/move-pillbottle-pad-aloha-agilex-vision-noise",
      "title": "Move pillbottle pad",
      "native_task": "move_pillbottle_pad",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "Use one arm to pick the pillbottle and place it onto the pad.",
      "measured": "Pick up the pill bottle and set it down in the center of the pad. Release it with both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_pillbottle_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_pillbottle_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_pillbottle_pad.py",
      "catalog_path": "tasks/task12/catalog/20-vision-noise-move-pillbottle-pad/task.yaml",
      "catalog_sha256": "c8a3a164537e33d927f3ac645381279f75a543e9056a9328c75d5aa5115fca57",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/20",
      "notes": []
    },
    {
      "key": "task12/21-background-plus-move-playingcard-away",
      "id": "robotwin-plus/move-playingcard-away-aloha-agilex-background-plus",
      "title": "Move playingcard away",
      "native_task": "move_playingcard_away",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "use the arm to <pick up the playing card> and <move it away from the table>.For example, if the playing card is on the outward side of the table, you should move it further outward side of the table.",
      "measured": "pick up the playing-card box and move it farther outward on its starting side, leaving both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_playingcard_away",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_playingcard_away.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_playingcard_away.py",
      "catalog_path": "tasks/task12/catalog/21-background-plus-move-playingcard-away/task.yaml",
      "catalog_sha256": "f9d31975327e0cde989b5ad3326e96c21a18fa06120a4b0a8c2cca1b1e26d4ce",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/21",
      "notes": []
    },
    {
      "key": "task12/21-camera-move-playingcard-away",
      "id": "robotwin-plus/move-playingcard-away-aloha-agilex-camera",
      "title": "Move playingcard away",
      "native_task": "move_playingcard_away",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "use the arm to <pick up the playing card> and <move it away from the table>.For example, if the playing card is on the outward side of the table, you should move it further outward side of the table.",
      "measured": "pick up the playing-card box and move it farther outward on its starting side, leaving both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_playingcard_away",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_playingcard_away.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_playingcard_away.py",
      "catalog_path": "tasks/task12/catalog/21-camera-move-playingcard-away/task.yaml",
      "catalog_sha256": "581457cf91626fb902ffc5bdc6653dcbaa138b230aab0d826bb216e2e286a04b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/21",
      "notes": []
    },
    {
      "key": "task12/21-clean-move-playingcard-away",
      "id": "robotwin-plus/move-playingcard-away-aloha-agilex-clean",
      "title": "Move playingcard away",
      "native_task": "move_playingcard_away",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "use the arm to <pick up the playing card> and <move it away from the table>.For example, if the playing card is on the outward side of the table, you should move it further outward side of the table.",
      "measured": "pick up the playing-card box and move it farther outward on its starting side, leaving both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_playingcard_away",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_playingcard_away.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_playingcard_away.py",
      "catalog_path": "tasks/task12/catalog/21-clean-move-playingcard-away/task.yaml",
      "catalog_sha256": "5396813cbd4f5a1b72574eb0e60266c6580348fedaa71556b0a09fc08696cddd",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/21",
      "notes": []
    },
    {
      "key": "task12/21-language-plus-move-playingcard-away",
      "id": "robotwin-plus/move-playingcard-away-aloha-agilex-language-plus",
      "title": "Move playingcard away",
      "native_task": "move_playingcard_away",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "use the arm to <pick up the playing card> and <move it away from the table>.For example, if the playing card is on the outward side of the table, you should move it further outward side of the table.",
      "measured": "pick up the playing-card box and move it farther outward on its starting side, leaving both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/move_playingcard_away",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/move_playingcard_away.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_playingcard_away.py",
      "catalog_path": "tasks/task12/catalog/21-language-plus-move-playingcard-away/task.yaml",
      "catalog_sha256": "bbd567a5e42f32afe24671f99f4ee7b29d1c4f85d32b8c152da96e7117ab26c2",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/21",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/21-light-move-playingcard-away",
      "id": "robotwin-plus/move-playingcard-away-aloha-agilex-light",
      "title": "Move playingcard away",
      "native_task": "move_playingcard_away",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "use the arm to <pick up the playing card> and <move it away from the table>.For example, if the playing card is on the outward side of the table, you should move it further outward side of the table.",
      "measured": "pick up the playing-card box and move it farther outward on its starting side, leaving both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_playingcard_away",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_playingcard_away.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_playingcard_away.py",
      "catalog_path": "tasks/task12/catalog/21-light-move-playingcard-away/task.yaml",
      "catalog_sha256": "d28f8b9d21626729d3da8344d2d60feb8f1853e5af12daadd184142fb50a9f65",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/21",
      "notes": []
    },
    {
      "key": "task12/21-objects-plus-move-playingcard-away",
      "id": "robotwin-plus/move-playingcard-away-aloha-agilex-objects-plus",
      "title": "Move playingcard away",
      "native_task": "move_playingcard_away",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "use the arm to <pick up the playing card> and <move it away from the table>.For example, if the playing card is on the outward side of the table, you should move it further outward side of the table.",
      "measured": "pick up the playing-card box and move it farther outward on its starting side, leaving both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_playingcard_away",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_playingcard_away.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_playingcard_away.py",
      "catalog_path": "tasks/task12/catalog/21-objects-plus-move-playingcard-away/task.yaml",
      "catalog_sha256": "bf756c236750cdd85b213fdc1b079381e1e811d4a0a3c9950d03c69b018e56d1",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/21",
      "notes": []
    },
    {
      "key": "task12/21-robot-state-move-playingcard-away",
      "id": "robotwin-plus/move-playingcard-away-aloha-agilex-robot-state",
      "title": "Move playingcard away",
      "native_task": "move_playingcard_away",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "use the arm to <pick up the playing card> and <move it away from the table>.For example, if the playing card is on the outward side of the table, you should move it further outward side of the table.",
      "measured": "pick up the playing-card box and move it farther outward on its starting side, leaving both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_playingcard_away",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_playingcard_away.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_playingcard_away.py",
      "catalog_path": "tasks/task12/catalog/21-robot-state-move-playingcard-away/task.yaml",
      "catalog_sha256": "510069d5f104c1b414e076e6c1d72e449a672a309c533368f05632386594c31c",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/21",
      "notes": []
    },
    {
      "key": "task12/21-vision-noise-move-playingcard-away",
      "id": "robotwin-plus/move-playingcard-away-aloha-agilex-vision-noise",
      "title": "Move playingcard away",
      "native_task": "move_playingcard_away",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "use the arm to <pick up the playing card> and <move it away from the table>.For example, if the playing card is on the outward side of the table, you should move it further outward side of the table.",
      "measured": "pick up the playing-card box and move it farther outward on its starting side, leaving both grippers open.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_playingcard_away",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_playingcard_away.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_playingcard_away.py",
      "catalog_path": "tasks/task12/catalog/21-vision-noise-move-playingcard-away/task.yaml",
      "catalog_sha256": "1b58255328361ab9d5f04319c80f5a53cbf6160f3d7e7b4db418c3a567170c78",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/21",
      "notes": []
    },
    {
      "key": "task12/22-background-plus-move-stapler-pad",
      "id": "robotwin-plus/move-stapler-pad-aloha-agilex-background-plus",
      "title": "Move stapler pad",
      "native_task": "move_stapler_pad",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "use appropriate arm to move the stapler to a colored mat",
      "measured": "place the stapler straight in the center of the colored mat, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_stapler_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_stapler_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_stapler_pad.py",
      "catalog_path": "tasks/task12/catalog/22-background-plus-move-stapler-pad/task.yaml",
      "catalog_sha256": "b7434370b5fc00628e55f5e4211166068e81e6b2da400fbc2009d7bb113b7050",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/22",
      "notes": []
    },
    {
      "key": "task12/22-camera-move-stapler-pad",
      "id": "robotwin-plus/move-stapler-pad-aloha-agilex-camera",
      "title": "Move stapler pad",
      "native_task": "move_stapler_pad",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "use appropriate arm to move the stapler to a colored mat",
      "measured": "place the stapler straight in the center of the colored mat, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_stapler_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_stapler_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_stapler_pad.py",
      "catalog_path": "tasks/task12/catalog/22-camera-move-stapler-pad/task.yaml",
      "catalog_sha256": "5cdf350281912bee742f94ddcdb2823e9e8f582fa0d5decfa38bac459724bca8",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/22",
      "notes": []
    },
    {
      "key": "task12/22-clean-move-stapler-pad",
      "id": "robotwin-plus/move-stapler-pad-aloha-agilex-clean",
      "title": "Move stapler pad",
      "native_task": "move_stapler_pad",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "use appropriate arm to move the stapler to a colored mat",
      "measured": "place the stapler straight in the center of the colored mat, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_stapler_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_stapler_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_stapler_pad.py",
      "catalog_path": "tasks/task12/catalog/22-clean-move-stapler-pad/task.yaml",
      "catalog_sha256": "3e666bdea6c87366cd22004796401e562ddcd0fde2fde2b7326127141cc18de4",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/22",
      "notes": []
    },
    {
      "key": "task12/22-language-plus-move-stapler-pad",
      "id": "robotwin-plus/move-stapler-pad-aloha-agilex-language-plus",
      "title": "Move stapler pad",
      "native_task": "move_stapler_pad",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "use appropriate arm to move the stapler to a colored mat",
      "measured": "place the stapler straight in the center of the colored mat, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/move_stapler_pad",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/move_stapler_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_stapler_pad.py",
      "catalog_path": "tasks/task12/catalog/22-language-plus-move-stapler-pad/task.yaml",
      "catalog_sha256": "b00af2c6241162ab4dd8151a15b92944417d876ff46ddd70a91dd4aab81c1571",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/22",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/22-light-move-stapler-pad",
      "id": "robotwin-plus/move-stapler-pad-aloha-agilex-light",
      "title": "Move stapler pad",
      "native_task": "move_stapler_pad",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "use appropriate arm to move the stapler to a colored mat",
      "measured": "place the stapler straight in the center of the colored mat, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_stapler_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_stapler_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_stapler_pad.py",
      "catalog_path": "tasks/task12/catalog/22-light-move-stapler-pad/task.yaml",
      "catalog_sha256": "09dee7777401f956742cb3479056ef1bfefeb9c902de11c8fda9d413a89102ab",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/22",
      "notes": []
    },
    {
      "key": "task12/22-objects-plus-move-stapler-pad",
      "id": "robotwin-plus/move-stapler-pad-aloha-agilex-objects-plus",
      "title": "Move stapler pad",
      "native_task": "move_stapler_pad",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "use appropriate arm to move the stapler to a colored mat",
      "measured": "place the stapler straight in the center of the colored mat, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_stapler_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_stapler_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_stapler_pad.py",
      "catalog_path": "tasks/task12/catalog/22-objects-plus-move-stapler-pad/task.yaml",
      "catalog_sha256": "ec89dd9f8bd85d1e6f755ee91a773852a55f9a32842bd7fcbe73a6e1caa67e46",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/22",
      "notes": []
    },
    {
      "key": "task12/22-robot-state-move-stapler-pad",
      "id": "robotwin-plus/move-stapler-pad-aloha-agilex-robot-state",
      "title": "Move stapler pad",
      "native_task": "move_stapler_pad",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "use appropriate arm to move the stapler to a colored mat",
      "measured": "place the stapler straight in the center of the colored mat, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_stapler_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_stapler_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_stapler_pad.py",
      "catalog_path": "tasks/task12/catalog/22-robot-state-move-stapler-pad/task.yaml",
      "catalog_sha256": "f4045afe7ad246386c5e299f55ba9543f35313ecebabd0a52e3c454e23b14974",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/22",
      "notes": []
    },
    {
      "key": "task12/22-vision-noise-move-stapler-pad",
      "id": "robotwin-plus/move-stapler-pad-aloha-agilex-vision-noise",
      "title": "Move stapler pad",
      "native_task": "move_stapler_pad",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "use appropriate arm to move the stapler to a colored mat",
      "measured": "place the stapler straight in the center of the colored mat, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/move_stapler_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_stapler_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_stapler_pad.py",
      "catalog_path": "tasks/task12/catalog/22-vision-noise-move-stapler-pad/task.yaml",
      "catalog_sha256": "11b4402658477738cec53c724d4c95dfb1d9355336daf4096400f4e48bbd4000",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/22",
      "notes": []
    },
    {
      "key": "task12/23-background-plus-open-laptop",
      "id": "robotwin-plus/open-laptop-aloha-agilex-background-plus",
      "title": "Open laptop",
      "native_task": "open_laptop",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "use one arm to open the laptop",
      "measured": "open the laptop, keeping the gripper on its opening side near the lid",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/open_laptop",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/open_laptop.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_laptop.py",
      "catalog_path": "tasks/task12/catalog/23-background-plus-open-laptop/task.yaml",
      "catalog_sha256": "1967c6d2330d555ecf2ab82e46e5eb5eb090aa0b6cc176d09fab82b347932d49",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/23",
      "notes": []
    },
    {
      "key": "task12/23-camera-open-laptop",
      "id": "robotwin-plus/open-laptop-aloha-agilex-camera",
      "title": "Open laptop",
      "native_task": "open_laptop",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "use one arm to open the laptop",
      "measured": "open the laptop, keeping the gripper on its opening side near the lid",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/open_laptop",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/open_laptop.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_laptop.py",
      "catalog_path": "tasks/task12/catalog/23-camera-open-laptop/task.yaml",
      "catalog_sha256": "3b343443ec5a5d892feaee71c0a2ae796ce53763328881ca67c4e3b6d812c4b6",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/23",
      "notes": []
    },
    {
      "key": "task12/23-clean-open-laptop",
      "id": "robotwin-plus/open-laptop-aloha-agilex-clean",
      "title": "Open laptop",
      "native_task": "open_laptop",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "use one arm to open the laptop",
      "measured": "open the laptop, keeping the gripper on its opening side near the lid",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/open_laptop",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/open_laptop.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_laptop.py",
      "catalog_path": "tasks/task12/catalog/23-clean-open-laptop/task.yaml",
      "catalog_sha256": "887b6c516411a60b7be19be717117c437643fffa7b8bf6534f613987af979e04",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/23",
      "notes": []
    },
    {
      "key": "task12/23-language-plus-open-laptop",
      "id": "robotwin-plus/open-laptop-aloha-agilex-language-plus",
      "title": "Open laptop",
      "native_task": "open_laptop",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "use one arm to open the laptop",
      "measured": "open the laptop, keeping the gripper on its opening side near the lid",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/open_laptop",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/open_laptop.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_laptop.py",
      "catalog_path": "tasks/task12/catalog/23-language-plus-open-laptop/task.yaml",
      "catalog_sha256": "5dee241e9886b5791565346c9d225e975b8552d7d0bef301d3a963b6afd76667",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/23",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/23-light-open-laptop",
      "id": "robotwin-plus/open-laptop-aloha-agilex-light",
      "title": "Open laptop",
      "native_task": "open_laptop",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "use one arm to open the laptop",
      "measured": "open the laptop, keeping the gripper on its opening side near the lid",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/open_laptop",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/open_laptop.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_laptop.py",
      "catalog_path": "tasks/task12/catalog/23-light-open-laptop/task.yaml",
      "catalog_sha256": "7436f78f254edea915807c88eb0f07c4762bf305fd2ee71955e935f9bd4bbacb",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/23",
      "notes": []
    },
    {
      "key": "task12/23-objects-plus-open-laptop",
      "id": "robotwin-plus/open-laptop-aloha-agilex-objects-plus",
      "title": "Open laptop",
      "native_task": "open_laptop",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "use one arm to open the laptop",
      "measured": "open the laptop, keeping the gripper on its opening side near the lid",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/open_laptop",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/open_laptop.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_laptop.py",
      "catalog_path": "tasks/task12/catalog/23-objects-plus-open-laptop/task.yaml",
      "catalog_sha256": "2b27c37864a2b66f62742ffd82018dd0571f6f6b268bcd71e1527556596b3443",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/23",
      "notes": []
    },
    {
      "key": "task12/23-robot-state-open-laptop",
      "id": "robotwin-plus/open-laptop-aloha-agilex-robot-state",
      "title": "Open laptop",
      "native_task": "open_laptop",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "use one arm to open the laptop",
      "measured": "open the laptop, keeping the gripper on its opening side near the lid",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/open_laptop",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/open_laptop.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_laptop.py",
      "catalog_path": "tasks/task12/catalog/23-robot-state-open-laptop/task.yaml",
      "catalog_sha256": "cf2729f79bb26a061b84e1b5505a550cc17a030ca47eeef265554c91de48950d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/23",
      "notes": []
    },
    {
      "key": "task12/23-vision-noise-open-laptop",
      "id": "robotwin-plus/open-laptop-aloha-agilex-vision-noise",
      "title": "Open laptop",
      "native_task": "open_laptop",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "use one arm to open the laptop",
      "measured": "open the laptop, keeping the gripper on its opening side near the lid",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/open_laptop",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/open_laptop.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_laptop.py",
      "catalog_path": "tasks/task12/catalog/23-vision-noise-open-laptop/task.yaml",
      "catalog_sha256": "4c636a6013c2014f7e096fe717d8354f9741ae9afda555e0249bd9516e5c0b32",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/23",
      "notes": []
    },
    {
      "key": "task12/24-background-plus-open-microwave",
      "id": "robotwin-plus/open-microwave-aloha-agilex-background-plus",
      "title": "Open microwave",
      "native_task": "open_microwave",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "Use one arm to open the microwave.",
      "measured": "Open the microwave door widely.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/open_microwave",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/open_microwave.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_microwave.py",
      "catalog_path": "tasks/task12/catalog/24-background-plus-open-microwave/task.yaml",
      "catalog_sha256": "ae1821f4d9e7eb978db6d573f8fbd6bddc666cb5ae8e76937c7b1fc04c5266de",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/24",
      "notes": []
    },
    {
      "key": "task12/24-camera-open-microwave",
      "id": "robotwin-plus/open-microwave-aloha-agilex-camera",
      "title": "Open microwave",
      "native_task": "open_microwave",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "Use one arm to open the microwave.",
      "measured": "Open the microwave door widely.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/open_microwave",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/open_microwave.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_microwave.py",
      "catalog_path": "tasks/task12/catalog/24-camera-open-microwave/task.yaml",
      "catalog_sha256": "53fc3afe55de16fe039b9eb04cc4f7c5455698134450036fdc96d0498f32024b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/24",
      "notes": []
    },
    {
      "key": "task12/24-clean-open-microwave",
      "id": "robotwin-plus/open-microwave-aloha-agilex-clean",
      "title": "Open microwave",
      "native_task": "open_microwave",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "Use one arm to open the microwave.",
      "measured": "Open the microwave door widely.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/open_microwave",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/open_microwave.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_microwave.py",
      "catalog_path": "tasks/task12/catalog/24-clean-open-microwave/task.yaml",
      "catalog_sha256": "c5cd9e1c5022c1bc15cea5eebebe6243082f457b3a2fc979e1e9e1682ee3c34d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/24",
      "notes": []
    },
    {
      "key": "task12/24-language-plus-open-microwave",
      "id": "robotwin-plus/open-microwave-aloha-agilex-language-plus",
      "title": "Open microwave",
      "native_task": "open_microwave",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "Use one arm to open the microwave.",
      "measured": "Open the microwave door widely.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/open_microwave",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/open_microwave.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_microwave.py",
      "catalog_path": "tasks/task12/catalog/24-language-plus-open-microwave/task.yaml",
      "catalog_sha256": "3e6417b8eafbffaf22383c6d4b15d074881a35603dd12f4cda560ca632f145f6",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/24",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/24-light-open-microwave",
      "id": "robotwin-plus/open-microwave-aloha-agilex-light",
      "title": "Open microwave",
      "native_task": "open_microwave",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "Use one arm to open the microwave.",
      "measured": "Open the microwave door widely.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/open_microwave",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/open_microwave.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_microwave.py",
      "catalog_path": "tasks/task12/catalog/24-light-open-microwave/task.yaml",
      "catalog_sha256": "df1a73a4404b01ab5076b41f1827908934bd0f045831b7e97dc86abce5a3e0b9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/24",
      "notes": []
    },
    {
      "key": "task12/24-objects-plus-open-microwave",
      "id": "robotwin-plus/open-microwave-aloha-agilex-objects-plus",
      "title": "Open microwave",
      "native_task": "open_microwave",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "Use one arm to open the microwave.",
      "measured": "Open the microwave door widely.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/open_microwave",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/open_microwave.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_microwave.py",
      "catalog_path": "tasks/task12/catalog/24-objects-plus-open-microwave/task.yaml",
      "catalog_sha256": "599e03f8f4b8b684d768d4c25c8d9ff7d3248f6e524134218f5bee71ca1b9343",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/24",
      "notes": []
    },
    {
      "key": "task12/24-robot-state-open-microwave",
      "id": "robotwin-plus/open-microwave-aloha-agilex-robot-state",
      "title": "Open microwave",
      "native_task": "open_microwave",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "Use one arm to open the microwave.",
      "measured": "Open the microwave door widely.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/open_microwave",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/open_microwave.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_microwave.py",
      "catalog_path": "tasks/task12/catalog/24-robot-state-open-microwave/task.yaml",
      "catalog_sha256": "21755ab8d215efbb26d2628dbe782c0f810f5e150b641ad3a68f71f120bc55a1",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/24",
      "notes": []
    },
    {
      "key": "task12/24-vision-noise-open-microwave",
      "id": "robotwin-plus/open-microwave-aloha-agilex-vision-noise",
      "title": "Open microwave",
      "native_task": "open_microwave",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "Use one arm to open the microwave.",
      "measured": "Open the microwave door widely.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/open_microwave",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/open_microwave.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_microwave.py",
      "catalog_path": "tasks/task12/catalog/24-vision-noise-open-microwave/task.yaml",
      "catalog_sha256": "4d2f8b8c7ae8bad349e47deb5f03101d628df8ab099fdde41bf37c8bb1a2fc96",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/24",
      "notes": []
    },
    {
      "key": "task12/25-background-plus-pick-diverse-bottles",
      "id": "robotwin-plus/pick-diverse-bottles-aloha-agilex-background-plus",
      "title": "Pick diverse bottles",
      "native_task": "pick_diverse_bottles",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "measured": "simultaneously pick up the two different bottles, one with each arm, and hold them high near the front center of the table, each on its original side",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/pick_diverse_bottles",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/pick_diverse_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_diverse_bottles.py",
      "catalog_path": "tasks/task12/catalog/25-background-plus-pick-diverse-bottles/task.yaml",
      "catalog_sha256": "b48a461681b8f36500d4e2d18709208041d6e4df6437b2fc036e570f366d1a87",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/25",
      "notes": []
    },
    {
      "key": "task12/25-camera-pick-diverse-bottles",
      "id": "robotwin-plus/pick-diverse-bottles-aloha-agilex-camera",
      "title": "Pick diverse bottles",
      "native_task": "pick_diverse_bottles",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "measured": "simultaneously pick up the two different bottles, one with each arm, and hold them high near the front center of the table, each on its original side",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/pick_diverse_bottles",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/pick_diverse_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_diverse_bottles.py",
      "catalog_path": "tasks/task12/catalog/25-camera-pick-diverse-bottles/task.yaml",
      "catalog_sha256": "26f198ce27c56db93fc8950514c01460272a653db03d9135a17e4b2abb360f91",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/25",
      "notes": []
    },
    {
      "key": "task12/25-clean-pick-diverse-bottles",
      "id": "robotwin-plus/pick-diverse-bottles-aloha-agilex-clean",
      "title": "Pick diverse bottles",
      "native_task": "pick_diverse_bottles",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "measured": "simultaneously pick up the two different bottles, one with each arm, and hold them high near the front center of the table, each on its original side",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/pick_diverse_bottles",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/pick_diverse_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_diverse_bottles.py",
      "catalog_path": "tasks/task12/catalog/25-clean-pick-diverse-bottles/task.yaml",
      "catalog_sha256": "5a180839f553cdd241e875dc4ae982eecdf07c0f89256b480c1641e3846b134c",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/25",
      "notes": []
    },
    {
      "key": "task12/25-language-plus-pick-diverse-bottles",
      "id": "robotwin-plus/pick-diverse-bottles-aloha-agilex-language-plus",
      "title": "Pick diverse bottles",
      "native_task": "pick_diverse_bottles",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "measured": "simultaneously pick up the two different bottles, one with each arm, and hold them high near the front center of the table, each on its original side",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/pick_diverse_bottles",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/pick_diverse_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_diverse_bottles.py",
      "catalog_path": "tasks/task12/catalog/25-language-plus-pick-diverse-bottles/task.yaml",
      "catalog_sha256": "3b65487d4c3322fc80dcbb78baf64c37d1209d134e37c399e67e7c06b312d576",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/25",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/25-light-pick-diverse-bottles",
      "id": "robotwin-plus/pick-diverse-bottles-aloha-agilex-light",
      "title": "Pick diverse bottles",
      "native_task": "pick_diverse_bottles",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "measured": "simultaneously pick up the two different bottles, one with each arm, and hold them high near the front center of the table, each on its original side",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/pick_diverse_bottles",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/pick_diverse_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_diverse_bottles.py",
      "catalog_path": "tasks/task12/catalog/25-light-pick-diverse-bottles/task.yaml",
      "catalog_sha256": "52153b2d4f2f1a135648cbcc2b84956c86a6a9011572973c466b8d089b8a5de8",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/25",
      "notes": []
    },
    {
      "key": "task12/25-objects-plus-pick-diverse-bottles",
      "id": "robotwin-plus/pick-diverse-bottles-aloha-agilex-objects-plus",
      "title": "Pick diverse bottles",
      "native_task": "pick_diverse_bottles",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "measured": "simultaneously pick up the two different bottles, one with each arm, and hold them high near the front center of the table, each on its original side",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/pick_diverse_bottles",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/pick_diverse_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_diverse_bottles.py",
      "catalog_path": "tasks/task12/catalog/25-objects-plus-pick-diverse-bottles/task.yaml",
      "catalog_sha256": "300f078d1f06a1d65de66972ddb8839c31be02b6b4194839fe7efcbf757b8ef5",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/25",
      "notes": []
    },
    {
      "key": "task12/25-robot-state-pick-diverse-bottles",
      "id": "robotwin-plus/pick-diverse-bottles-aloha-agilex-robot-state",
      "title": "Pick diverse bottles",
      "native_task": "pick_diverse_bottles",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "measured": "simultaneously pick up the two different bottles, one with each arm, and hold them high near the front center of the table, each on its original side",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/pick_diverse_bottles",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/pick_diverse_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_diverse_bottles.py",
      "catalog_path": "tasks/task12/catalog/25-robot-state-pick-diverse-bottles/task.yaml",
      "catalog_sha256": "a7e09950f99671873fcd309af16ba25fa9772ea45b46b45f1b7e38a81d37dea5",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/25",
      "notes": []
    },
    {
      "key": "task12/25-vision-noise-pick-diverse-bottles",
      "id": "robotwin-plus/pick-diverse-bottles-aloha-agilex-vision-noise",
      "title": "Pick diverse bottles",
      "native_task": "pick_diverse_bottles",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "measured": "simultaneously pick up the two different bottles, one with each arm, and hold them high near the front center of the table, each on its original side",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/pick_diverse_bottles",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/pick_diverse_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_diverse_bottles.py",
      "catalog_path": "tasks/task12/catalog/25-vision-noise-pick-diverse-bottles/task.yaml",
      "catalog_sha256": "3c87b5e88e34b23fa971b2cf03fef378d5dbad962f39125c151b60a6e1ffd8c9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/25",
      "notes": []
    },
    {
      "key": "task12/26-background-plus-pick-dual-bottles",
      "id": "robotwin-plus/pick-dual-bottles-aloha-agilex-background-plus",
      "title": "Pick dual bottles",
      "native_task": "pick_dual_bottles",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "measured": "simultaneously pick up one bottle with each arm, and hold them high near the front center of the table, each on its original side",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/pick_dual_bottles",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/pick_dual_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_dual_bottles.py",
      "catalog_path": "tasks/task12/catalog/26-background-plus-pick-dual-bottles/task.yaml",
      "catalog_sha256": "708f59a1e3848b8cd039f09d67e7b4017d63b9a10f053aed607fbc8a54d72871",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/26",
      "notes": []
    },
    {
      "key": "task12/26-camera-pick-dual-bottles",
      "id": "robotwin-plus/pick-dual-bottles-aloha-agilex-camera",
      "title": "Pick dual bottles",
      "native_task": "pick_dual_bottles",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "measured": "simultaneously pick up one bottle with each arm, and hold them high near the front center of the table, each on its original side",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/pick_dual_bottles",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/pick_dual_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_dual_bottles.py",
      "catalog_path": "tasks/task12/catalog/26-camera-pick-dual-bottles/task.yaml",
      "catalog_sha256": "d73c1cd8fa8d2d615b68fa19eb05b048202390626b5e4a0688a09b1e1905b292",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/26",
      "notes": []
    },
    {
      "key": "task12/26-clean-pick-dual-bottles",
      "id": "robotwin-plus/pick-dual-bottles-aloha-agilex-clean",
      "title": "Pick dual bottles",
      "native_task": "pick_dual_bottles",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "measured": "simultaneously pick up one bottle with each arm, and hold them high near the front center of the table, each on its original side",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/pick_dual_bottles",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/pick_dual_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_dual_bottles.py",
      "catalog_path": "tasks/task12/catalog/26-clean-pick-dual-bottles/task.yaml",
      "catalog_sha256": "e91cb05b3bed6069308bc45f9cc247f77c8fd4850be2fa9bb0855048790eaec6",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/26",
      "notes": []
    },
    {
      "key": "task12/26-language-plus-pick-dual-bottles",
      "id": "robotwin-plus/pick-dual-bottles-aloha-agilex-language-plus",
      "title": "Pick dual bottles",
      "native_task": "pick_dual_bottles",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "measured": "simultaneously pick up one bottle with each arm, and hold them high near the front center of the table, each on its original side",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/pick_dual_bottles",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/pick_dual_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_dual_bottles.py",
      "catalog_path": "tasks/task12/catalog/26-language-plus-pick-dual-bottles/task.yaml",
      "catalog_sha256": "34ad6944d28917aa89d7435736ac73f9112228e8b91f28dd07823be74ca2b8b1",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/26",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/26-light-pick-dual-bottles",
      "id": "robotwin-plus/pick-dual-bottles-aloha-agilex-light",
      "title": "Pick dual bottles",
      "native_task": "pick_dual_bottles",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "measured": "simultaneously pick up one bottle with each arm, and hold them high near the front center of the table, each on its original side",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/pick_dual_bottles",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/pick_dual_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_dual_bottles.py",
      "catalog_path": "tasks/task12/catalog/26-light-pick-dual-bottles/task.yaml",
      "catalog_sha256": "f9acefd162b2f979a4304ab97d5d5c0a9cf34a6b02a9e0230da9fe4c4396e351",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/26",
      "notes": []
    },
    {
      "key": "task12/26-objects-plus-pick-dual-bottles",
      "id": "robotwin-plus/pick-dual-bottles-aloha-agilex-objects-plus",
      "title": "Pick dual bottles",
      "native_task": "pick_dual_bottles",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "measured": "simultaneously pick up one bottle with each arm, and hold them high near the front center of the table, each on its original side",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/pick_dual_bottles",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/pick_dual_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_dual_bottles.py",
      "catalog_path": "tasks/task12/catalog/26-objects-plus-pick-dual-bottles/task.yaml",
      "catalog_sha256": "db255d3b02769ad6ea72a53c664d9eb209109e65380efdae39123f4a72a2b10c",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/26",
      "notes": []
    },
    {
      "key": "task12/26-robot-state-pick-dual-bottles",
      "id": "robotwin-plus/pick-dual-bottles-aloha-agilex-robot-state",
      "title": "Pick dual bottles",
      "native_task": "pick_dual_bottles",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "measured": "simultaneously pick up one bottle with each arm, and hold them high near the front center of the table, each on its original side",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/pick_dual_bottles",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/pick_dual_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_dual_bottles.py",
      "catalog_path": "tasks/task12/catalog/26-robot-state-pick-dual-bottles/task.yaml",
      "catalog_sha256": "ade9e4c9d8f43cac4ddc13a7bbf1d88c0235b195ce08c44621d9e9a48ea8234b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/26",
      "notes": []
    },
    {
      "key": "task12/26-vision-noise-pick-dual-bottles",
      "id": "robotwin-plus/pick-dual-bottles-aloha-agilex-vision-noise",
      "title": "Pick dual bottles",
      "native_task": "pick_dual_bottles",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "measured": "simultaneously pick up one bottle with each arm, and hold them high near the front center of the table, each on its original side",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/pick_dual_bottles",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/pick_dual_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_dual_bottles.py",
      "catalog_path": "tasks/task12/catalog/26-vision-noise-pick-dual-bottles/task.yaml",
      "catalog_sha256": "842612942e55ef4a6b0fda3e0b69ed7c2e2079f37f69e401aa406beec333c32c",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/26",
      "notes": []
    },
    {
      "key": "task12/27-background-plus-place-a2b-left",
      "id": "robotwin-plus/place-a2b-left-aloha-agilex-background-plus",
      "title": "Place a2b left",
      "native_task": "place_a2b_left",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "use appropriate arm to place object A on the left of object B",
      "measured": "place the {movable_object_description} directly to the left of the {reference_object_description}, with a small gap between them and both grippers open",
      "status": "changed",
      "bindings": {
        "movable_object_description": "objects.A.description",
        "reference_object_description": "objects.B.description"
      },
      "definition": "task_instruction/place_a2b_left",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_a2b_left.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_left.py",
      "catalog_path": "tasks/task12/catalog/27-background-plus-place-a2b-left/task.yaml",
      "catalog_sha256": "f67683337a79f90c7d940fb22a3cec7e6ac77939af66581e2c886f1447f3cd79",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/27",
      "notes": [
        "Binds the movable and reference objects to the current scene and specifies their gap and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/27-camera-place-a2b-left",
      "id": "robotwin-plus/place-a2b-left-aloha-agilex-camera",
      "title": "Place a2b left",
      "native_task": "place_a2b_left",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "use appropriate arm to place object A on the left of object B",
      "measured": "place the {movable_object_description} directly to the left of the {reference_object_description}, with a small gap between them and both grippers open",
      "status": "changed",
      "bindings": {
        "movable_object_description": "objects.A.description",
        "reference_object_description": "objects.B.description"
      },
      "definition": "task_instruction/place_a2b_left",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_a2b_left.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_left.py",
      "catalog_path": "tasks/task12/catalog/27-camera-place-a2b-left/task.yaml",
      "catalog_sha256": "0ffc5417805735e572bdeee935292d02dc6084ed278a782e77e2fc56fc846d74",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/27",
      "notes": [
        "Binds the movable and reference objects to the current scene and specifies their gap and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/27-clean-place-a2b-left",
      "id": "robotwin-plus/place-a2b-left-aloha-agilex-clean",
      "title": "Place a2b left",
      "native_task": "place_a2b_left",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "use appropriate arm to place object A on the left of object B",
      "measured": "place the {movable_object_description} directly to the left of the {reference_object_description}, with a small gap between them and both grippers open",
      "status": "changed",
      "bindings": {
        "movable_object_description": "objects.A.description",
        "reference_object_description": "objects.B.description"
      },
      "definition": "task_instruction/place_a2b_left",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_a2b_left.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_left.py",
      "catalog_path": "tasks/task12/catalog/27-clean-place-a2b-left/task.yaml",
      "catalog_sha256": "24b9218a2430dd02f2227b2d9a331d43d5ff188ebc6d004653084b76915beeb4",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/27",
      "notes": [
        "Binds the movable and reference objects to the current scene and specifies their gap and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/27-language-plus-place-a2b-left",
      "id": "robotwin-plus/place-a2b-left-aloha-agilex-language-plus",
      "title": "Place a2b left",
      "native_task": "place_a2b_left",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "use appropriate arm to place object A on the left of object B",
      "measured": "place the {movable_object_description} directly to the left of the {reference_object_description}, with a small gap between them and both grippers open",
      "status": "changed",
      "bindings": {
        "movable_object_description": "objects.A.description",
        "reference_object_description": "objects.B.description"
      },
      "definition": "task_instruction_plus/place_a2b_left",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_a2b_left.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_left.py",
      "catalog_path": "tasks/task12/catalog/27-language-plus-place-a2b-left/task.yaml",
      "catalog_sha256": "a1588329a1992188baa09c9fd458564410887fbb4cb2ed3dcabac346e9a00d23",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/27",
      "notes": [
        "Binds the movable and reference objects to the current scene and specifies their gap and release.",
        "Target descriptions are bound from the initialized scene.",
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/27-light-place-a2b-left",
      "id": "robotwin-plus/place-a2b-left-aloha-agilex-light",
      "title": "Place a2b left",
      "native_task": "place_a2b_left",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "use appropriate arm to place object A on the left of object B",
      "measured": "place the {movable_object_description} directly to the left of the {reference_object_description}, with a small gap between them and both grippers open",
      "status": "changed",
      "bindings": {
        "movable_object_description": "objects.A.description",
        "reference_object_description": "objects.B.description"
      },
      "definition": "task_instruction/place_a2b_left",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_a2b_left.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_left.py",
      "catalog_path": "tasks/task12/catalog/27-light-place-a2b-left/task.yaml",
      "catalog_sha256": "0fde024be78affe34ba59fd5644663be89f735587c2ac5c84f85c669338cb140",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/27",
      "notes": [
        "Binds the movable and reference objects to the current scene and specifies their gap and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/27-objects-plus-place-a2b-left",
      "id": "robotwin-plus/place-a2b-left-aloha-agilex-objects-plus",
      "title": "Place a2b left",
      "native_task": "place_a2b_left",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "use appropriate arm to place object A on the left of object B",
      "measured": "place the {movable_object_description} directly to the left of the {reference_object_description}, with a small gap between them and both grippers open",
      "status": "changed",
      "bindings": {
        "movable_object_description": "objects.A.description",
        "reference_object_description": "objects.B.description"
      },
      "definition": "task_instruction/place_a2b_left",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_a2b_left.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_left.py",
      "catalog_path": "tasks/task12/catalog/27-objects-plus-place-a2b-left/task.yaml",
      "catalog_sha256": "adb8b87fd59c21af72c2d382ad475fdb227e55369d364c29725679e1420ed0c9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/27",
      "notes": [
        "Binds the movable and reference objects to the current scene and specifies their gap and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/27-robot-state-place-a2b-left",
      "id": "robotwin-plus/place-a2b-left-aloha-agilex-robot-state",
      "title": "Place a2b left",
      "native_task": "place_a2b_left",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "use appropriate arm to place object A on the left of object B",
      "measured": "place the {movable_object_description} directly to the left of the {reference_object_description}, with a small gap between them and both grippers open",
      "status": "changed",
      "bindings": {
        "movable_object_description": "objects.A.description",
        "reference_object_description": "objects.B.description"
      },
      "definition": "task_instruction/place_a2b_left",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_a2b_left.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_left.py",
      "catalog_path": "tasks/task12/catalog/27-robot-state-place-a2b-left/task.yaml",
      "catalog_sha256": "114d08a481376fa99bdc250374f7c1745c9014fab401e7bb9b13e28508004a12",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/27",
      "notes": [
        "Binds the movable and reference objects to the current scene and specifies their gap and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/27-vision-noise-place-a2b-left",
      "id": "robotwin-plus/place-a2b-left-aloha-agilex-vision-noise",
      "title": "Place a2b left",
      "native_task": "place_a2b_left",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "use appropriate arm to place object A on the left of object B",
      "measured": "place the {movable_object_description} directly to the left of the {reference_object_description}, with a small gap between them and both grippers open",
      "status": "changed",
      "bindings": {
        "movable_object_description": "objects.A.description",
        "reference_object_description": "objects.B.description"
      },
      "definition": "task_instruction/place_a2b_left",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_a2b_left.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_left.py",
      "catalog_path": "tasks/task12/catalog/27-vision-noise-place-a2b-left/task.yaml",
      "catalog_sha256": "b21904a7363999c905981ae4794849040f540b6b8b22e909411d1323f85c1ed8",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/27",
      "notes": [
        "Binds the movable and reference objects to the current scene and specifies their gap and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/28-background-plus-place-a2b-right",
      "id": "robotwin-plus/place-a2b-right-aloha-agilex-background-plus",
      "title": "Place a2b right",
      "native_task": "place_a2b_right",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "use appropriate arm to place object A on the right of object B",
      "measured": "place the {movable_object_description} directly to the right of the {reference_object_description}, with a small gap between them and both grippers open",
      "status": "changed",
      "bindings": {
        "movable_object_description": "objects.A.description",
        "reference_object_description": "objects.B.description"
      },
      "definition": "task_instruction/place_a2b_right",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_a2b_right.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_right.py",
      "catalog_path": "tasks/task12/catalog/28-background-plus-place-a2b-right/task.yaml",
      "catalog_sha256": "de62cb221c790c244f527fde0d78f1beb568fd91a13cbd1dfd7addb6a2ce5bde",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/28",
      "notes": [
        "Binds the movable and reference objects to the current scene and specifies their gap and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/28-camera-place-a2b-right",
      "id": "robotwin-plus/place-a2b-right-aloha-agilex-camera",
      "title": "Place a2b right",
      "native_task": "place_a2b_right",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "use appropriate arm to place object A on the right of object B",
      "measured": "place the {movable_object_description} directly to the right of the {reference_object_description}, with a small gap between them and both grippers open",
      "status": "changed",
      "bindings": {
        "movable_object_description": "objects.A.description",
        "reference_object_description": "objects.B.description"
      },
      "definition": "task_instruction/place_a2b_right",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_a2b_right.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_right.py",
      "catalog_path": "tasks/task12/catalog/28-camera-place-a2b-right/task.yaml",
      "catalog_sha256": "ecf69f5d45a75b197d86eb288878d8d76e1fcdeb746315bf8401461a5296c838",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/28",
      "notes": [
        "Binds the movable and reference objects to the current scene and specifies their gap and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/28-clean-place-a2b-right",
      "id": "robotwin-plus/place-a2b-right-aloha-agilex-clean",
      "title": "Place a2b right",
      "native_task": "place_a2b_right",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "use appropriate arm to place object A on the right of object B",
      "measured": "place the {movable_object_description} directly to the right of the {reference_object_description}, with a small gap between them and both grippers open",
      "status": "changed",
      "bindings": {
        "movable_object_description": "objects.A.description",
        "reference_object_description": "objects.B.description"
      },
      "definition": "task_instruction/place_a2b_right",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_a2b_right.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_right.py",
      "catalog_path": "tasks/task12/catalog/28-clean-place-a2b-right/task.yaml",
      "catalog_sha256": "afcb9bf1feb4ba482e7d9375094d5118864c1eb5b25398cdb7bf9f44a681547b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/28",
      "notes": [
        "Binds the movable and reference objects to the current scene and specifies their gap and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/28-language-plus-place-a2b-right",
      "id": "robotwin-plus/place-a2b-right-aloha-agilex-language-plus",
      "title": "Place a2b right",
      "native_task": "place_a2b_right",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "use appropriate arm to place object A on the right of object B",
      "measured": "place the {movable_object_description} directly to the right of the {reference_object_description}, with a small gap between them and both grippers open",
      "status": "changed",
      "bindings": {
        "movable_object_description": "objects.A.description",
        "reference_object_description": "objects.B.description"
      },
      "definition": "task_instruction_plus/place_a2b_right",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_a2b_right.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_right.py",
      "catalog_path": "tasks/task12/catalog/28-language-plus-place-a2b-right/task.yaml",
      "catalog_sha256": "888f1d828210b4d571acadb97d4dddae05b738da031c1134324d8c0f87b5b5f3",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/28",
      "notes": [
        "Binds the movable and reference objects to the current scene and specifies their gap and release.",
        "Target descriptions are bound from the initialized scene.",
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/28-light-place-a2b-right",
      "id": "robotwin-plus/place-a2b-right-aloha-agilex-light",
      "title": "Place a2b right",
      "native_task": "place_a2b_right",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "use appropriate arm to place object A on the right of object B",
      "measured": "place the {movable_object_description} directly to the right of the {reference_object_description}, with a small gap between them and both grippers open",
      "status": "changed",
      "bindings": {
        "movable_object_description": "objects.A.description",
        "reference_object_description": "objects.B.description"
      },
      "definition": "task_instruction/place_a2b_right",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_a2b_right.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_right.py",
      "catalog_path": "tasks/task12/catalog/28-light-place-a2b-right/task.yaml",
      "catalog_sha256": "5c5b541d04148b9b58f0fa77bd0bd736d766596c785ff344401d79f11563fe9b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/28",
      "notes": [
        "Binds the movable and reference objects to the current scene and specifies their gap and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/28-objects-plus-place-a2b-right",
      "id": "robotwin-plus/place-a2b-right-aloha-agilex-objects-plus",
      "title": "Place a2b right",
      "native_task": "place_a2b_right",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "use appropriate arm to place object A on the right of object B",
      "measured": "place the {movable_object_description} directly to the right of the {reference_object_description}, with a small gap between them and both grippers open",
      "status": "changed",
      "bindings": {
        "movable_object_description": "objects.A.description",
        "reference_object_description": "objects.B.description"
      },
      "definition": "task_instruction/place_a2b_right",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_a2b_right.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_right.py",
      "catalog_path": "tasks/task12/catalog/28-objects-plus-place-a2b-right/task.yaml",
      "catalog_sha256": "9e0e8f4e9d7c69f7e34d018d488e90a492ff25446a0a652c78f8912b0b1a738b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/28",
      "notes": [
        "Binds the movable and reference objects to the current scene and specifies their gap and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/28-robot-state-place-a2b-right",
      "id": "robotwin-plus/place-a2b-right-aloha-agilex-robot-state",
      "title": "Place a2b right",
      "native_task": "place_a2b_right",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "use appropriate arm to place object A on the right of object B",
      "measured": "place the {movable_object_description} directly to the right of the {reference_object_description}, with a small gap between them and both grippers open",
      "status": "changed",
      "bindings": {
        "movable_object_description": "objects.A.description",
        "reference_object_description": "objects.B.description"
      },
      "definition": "task_instruction/place_a2b_right",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_a2b_right.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_right.py",
      "catalog_path": "tasks/task12/catalog/28-robot-state-place-a2b-right/task.yaml",
      "catalog_sha256": "d91d38d5ee930e0cb7c6d1fbe1b73d6d438ef7d8c220c135a0c850f214f57f37",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/28",
      "notes": [
        "Binds the movable and reference objects to the current scene and specifies their gap and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/28-vision-noise-place-a2b-right",
      "id": "robotwin-plus/place-a2b-right-aloha-agilex-vision-noise",
      "title": "Place a2b right",
      "native_task": "place_a2b_right",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "use appropriate arm to place object A on the right of object B",
      "measured": "place the {movable_object_description} directly to the right of the {reference_object_description}, with a small gap between them and both grippers open",
      "status": "changed",
      "bindings": {
        "movable_object_description": "objects.A.description",
        "reference_object_description": "objects.B.description"
      },
      "definition": "task_instruction/place_a2b_right",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_a2b_right.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_right.py",
      "catalog_path": "tasks/task12/catalog/28-vision-noise-place-a2b-right/task.yaml",
      "catalog_sha256": "80ea51e326db64fc074cdec7466fa96a1408c8318089e50690c83371b0b57e04",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/28",
      "notes": [
        "Binds the movable and reference objects to the current scene and specifies their gap and release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/29-background-plus-place-bread-basket",
      "id": "robotwin-plus/place-bread-basket-aloha-agilex-background-plus",
      "title": "Place bread basket",
      "native_task": "place_bread_basket",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "if there is one bread on the table, use one arm to grab the bread and put it in the basket, if there are two breads on the table, use two arms to simultaneously!!! grab up two breads and put them in the basket",
      "measured": "place all the bread in the basket near its center, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_bread_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_bread_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_basket.py",
      "catalog_path": "tasks/task12/catalog/29-background-plus-place-bread-basket/task.yaml",
      "catalog_sha256": "ccfdc1148c9620e10541157f912fc4f60347b55b54f942a5fe0c83fb8a8039ea",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/29",
      "notes": []
    },
    {
      "key": "task12/29-camera-place-bread-basket",
      "id": "robotwin-plus/place-bread-basket-aloha-agilex-camera",
      "title": "Place bread basket",
      "native_task": "place_bread_basket",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "if there is one bread on the table, use one arm to grab the bread and put it in the basket, if there are two breads on the table, use two arms to simultaneously!!! grab up two breads and put them in the basket",
      "measured": "place all the bread in the basket near its center, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_bread_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_bread_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_basket.py",
      "catalog_path": "tasks/task12/catalog/29-camera-place-bread-basket/task.yaml",
      "catalog_sha256": "5fbd1f4699ececb7adcf2dcf7303aa2f529f39d310a8a9db7ea63329e4d7e5af",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/29",
      "notes": []
    },
    {
      "key": "task12/29-clean-place-bread-basket",
      "id": "robotwin-plus/place-bread-basket-aloha-agilex-clean",
      "title": "Place bread basket",
      "native_task": "place_bread_basket",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "if there is one bread on the table, use one arm to grab the bread and put it in the basket, if there are two breads on the table, use two arms to simultaneously!!! grab up two breads and put them in the basket",
      "measured": "place all the bread in the basket near its center, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_bread_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_bread_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_basket.py",
      "catalog_path": "tasks/task12/catalog/29-clean-place-bread-basket/task.yaml",
      "catalog_sha256": "54c9c12b955eba49c89f33dbacb46a45aae22970479fc7ee70786bb2fa131774",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/29",
      "notes": []
    },
    {
      "key": "task12/29-language-plus-place-bread-basket",
      "id": "robotwin-plus/place-bread-basket-aloha-agilex-language-plus",
      "title": "Place bread basket",
      "native_task": "place_bread_basket",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "if there is one bread on the table, use one arm to grab the bread and put it in the basket, if there are two breads on the table, use two arms to simultaneously!!! grab up two breads and put them in the basket",
      "measured": "place all the bread in the basket near its center, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/place_bread_basket",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_bread_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_basket.py",
      "catalog_path": "tasks/task12/catalog/29-language-plus-place-bread-basket/task.yaml",
      "catalog_sha256": "841082ec4c2d657a12a8f398c6afcc6c384d62e39d7f4499876c8dfa1cea1e3e",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/29",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/29-light-place-bread-basket",
      "id": "robotwin-plus/place-bread-basket-aloha-agilex-light",
      "title": "Place bread basket",
      "native_task": "place_bread_basket",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "if there is one bread on the table, use one arm to grab the bread and put it in the basket, if there are two breads on the table, use two arms to simultaneously!!! grab up two breads and put them in the basket",
      "measured": "place all the bread in the basket near its center, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_bread_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_bread_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_basket.py",
      "catalog_path": "tasks/task12/catalog/29-light-place-bread-basket/task.yaml",
      "catalog_sha256": "7082c93f1d6367a0e6e27a86b3181eae3de08a97c691fdb4aa10ffa27f834334",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/29",
      "notes": []
    },
    {
      "key": "task12/29-objects-plus-place-bread-basket",
      "id": "robotwin-plus/place-bread-basket-aloha-agilex-objects-plus",
      "title": "Place bread basket",
      "native_task": "place_bread_basket",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "if there is one bread on the table, use one arm to grab the bread and put it in the basket, if there are two breads on the table, use two arms to simultaneously!!! grab up two breads and put them in the basket",
      "measured": "place all the bread in the basket near its center, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_bread_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_bread_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_basket.py",
      "catalog_path": "tasks/task12/catalog/29-objects-plus-place-bread-basket/task.yaml",
      "catalog_sha256": "cad35566941d6aaee026e1b7fd3ca8f457de0cd052b1e54752bff8997bd3a377",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/29",
      "notes": []
    },
    {
      "key": "task12/29-robot-state-place-bread-basket",
      "id": "robotwin-plus/place-bread-basket-aloha-agilex-robot-state",
      "title": "Place bread basket",
      "native_task": "place_bread_basket",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "if there is one bread on the table, use one arm to grab the bread and put it in the basket, if there are two breads on the table, use two arms to simultaneously!!! grab up two breads and put them in the basket",
      "measured": "place all the bread in the basket near its center, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_bread_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_bread_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_basket.py",
      "catalog_path": "tasks/task12/catalog/29-robot-state-place-bread-basket/task.yaml",
      "catalog_sha256": "d0ad734f5efc4b4fce4e08e5e1caf45bdda2176d13a2aa0a50ae5d5a93697780",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/29",
      "notes": []
    },
    {
      "key": "task12/29-vision-noise-place-bread-basket",
      "id": "robotwin-plus/place-bread-basket-aloha-agilex-vision-noise",
      "title": "Place bread basket",
      "native_task": "place_bread_basket",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "if there is one bread on the table, use one arm to grab the bread and put it in the basket, if there are two breads on the table, use two arms to simultaneously!!! grab up two breads and put them in the basket",
      "measured": "place all the bread in the basket near its center, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_bread_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_bread_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_basket.py",
      "catalog_path": "tasks/task12/catalog/29-vision-noise-place-bread-basket/task.yaml",
      "catalog_sha256": "ee03812a181bae86d5d5680cbf0ae3e3ede225ffc5e3a220b7bf4a92430e04d9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/29",
      "notes": []
    },
    {
      "key": "task12/30-background-plus-place-bread-skillet",
      "id": "robotwin-plus/place-bread-skillet-aloha-agilex-background-plus",
      "title": "Place bread skillet",
      "native_task": "place_bread_skillet",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "if there is one bread on the table, use one arm to grab the bread and put it into the skillet",
      "measured": "use one arm to keep the skillet lifted clear of the table while the other places the bread in its center",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_bread_skillet",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_bread_skillet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_skillet.py",
      "catalog_path": "tasks/task12/catalog/30-background-plus-place-bread-skillet/task.yaml",
      "catalog_sha256": "aa54da782286b31288ccd0acd6588550dd67f0d4d15a4bfe9490ece6f139cc6a",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/30",
      "notes": []
    },
    {
      "key": "task12/30-camera-place-bread-skillet",
      "id": "robotwin-plus/place-bread-skillet-aloha-agilex-camera",
      "title": "Place bread skillet",
      "native_task": "place_bread_skillet",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "if there is one bread on the table, use one arm to grab the bread and put it into the skillet",
      "measured": "use one arm to keep the skillet lifted clear of the table while the other places the bread in its center",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_bread_skillet",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_bread_skillet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_skillet.py",
      "catalog_path": "tasks/task12/catalog/30-camera-place-bread-skillet/task.yaml",
      "catalog_sha256": "72ce996060b688e69c86eacdc8a6da202d1c1b1612a6b444cffb40d584d7d376",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/30",
      "notes": []
    },
    {
      "key": "task12/30-clean-place-bread-skillet",
      "id": "robotwin-plus/place-bread-skillet-aloha-agilex-clean",
      "title": "Place bread skillet",
      "native_task": "place_bread_skillet",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "if there is one bread on the table, use one arm to grab the bread and put it into the skillet",
      "measured": "use one arm to keep the skillet lifted clear of the table while the other places the bread in its center",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_bread_skillet",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_bread_skillet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_skillet.py",
      "catalog_path": "tasks/task12/catalog/30-clean-place-bread-skillet/task.yaml",
      "catalog_sha256": "d3818ee4efd4e16cb462bb54b749b322e9da8105c3ed0d274ef97faa8a650275",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/30",
      "notes": []
    },
    {
      "key": "task12/30-language-plus-place-bread-skillet",
      "id": "robotwin-plus/place-bread-skillet-aloha-agilex-language-plus",
      "title": "Place bread skillet",
      "native_task": "place_bread_skillet",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "if there is one bread on the table, use one arm to grab the bread and put it into the skillet",
      "measured": "use one arm to keep the skillet lifted clear of the table while the other places the bread in its center",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/place_bread_skillet",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_bread_skillet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_skillet.py",
      "catalog_path": "tasks/task12/catalog/30-language-plus-place-bread-skillet/task.yaml",
      "catalog_sha256": "fc820bb4cf3a3b4999699583695011f05b7612cb101a6fda5a51cde549a0e8d9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/30",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/30-light-place-bread-skillet",
      "id": "robotwin-plus/place-bread-skillet-aloha-agilex-light",
      "title": "Place bread skillet",
      "native_task": "place_bread_skillet",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "if there is one bread on the table, use one arm to grab the bread and put it into the skillet",
      "measured": "use one arm to keep the skillet lifted clear of the table while the other places the bread in its center",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_bread_skillet",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_bread_skillet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_skillet.py",
      "catalog_path": "tasks/task12/catalog/30-light-place-bread-skillet/task.yaml",
      "catalog_sha256": "a9935ca7108cb6cb6527531e8f55b65a70706bda4a2fabaa1302897c6334d326",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/30",
      "notes": []
    },
    {
      "key": "task12/30-objects-plus-place-bread-skillet",
      "id": "robotwin-plus/place-bread-skillet-aloha-agilex-objects-plus",
      "title": "Place bread skillet",
      "native_task": "place_bread_skillet",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "if there is one bread on the table, use one arm to grab the bread and put it into the skillet",
      "measured": "use one arm to keep the skillet lifted clear of the table while the other places the bread in its center",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_bread_skillet",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_bread_skillet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_skillet.py",
      "catalog_path": "tasks/task12/catalog/30-objects-plus-place-bread-skillet/task.yaml",
      "catalog_sha256": "f16c379d03fa5d16e6a097912aaad4ce7ac8251738d7b76cf992c97aa522903e",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/30",
      "notes": []
    },
    {
      "key": "task12/30-robot-state-place-bread-skillet",
      "id": "robotwin-plus/place-bread-skillet-aloha-agilex-robot-state",
      "title": "Place bread skillet",
      "native_task": "place_bread_skillet",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "if there is one bread on the table, use one arm to grab the bread and put it into the skillet",
      "measured": "use one arm to keep the skillet lifted clear of the table while the other places the bread in its center",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_bread_skillet",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_bread_skillet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_skillet.py",
      "catalog_path": "tasks/task12/catalog/30-robot-state-place-bread-skillet/task.yaml",
      "catalog_sha256": "b46ea81245b69ed69abc864a2afc745f8cb82cbebc387b1621902c40a043ae9c",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/30",
      "notes": []
    },
    {
      "key": "task12/30-vision-noise-place-bread-skillet",
      "id": "robotwin-plus/place-bread-skillet-aloha-agilex-vision-noise",
      "title": "Place bread skillet",
      "native_task": "place_bread_skillet",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "if there is one bread on the table, use one arm to grab the bread and put it into the skillet",
      "measured": "use one arm to keep the skillet lifted clear of the table while the other places the bread in its center",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_bread_skillet",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_bread_skillet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_skillet.py",
      "catalog_path": "tasks/task12/catalog/30-vision-noise-place-bread-skillet/task.yaml",
      "catalog_sha256": "7ccd1c78c56622db2288b65cb7da1bafd0542adfd4d9aba95fa7bfe55381e79f",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/30",
      "notes": []
    },
    {
      "key": "task12/31-background-plus-place-burger-fries",
      "id": "robotwin-plus/place-burger-fries-aloha-agilex-background-plus",
      "title": "Place burger fries",
      "native_task": "place_burger_fries",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "Use dual arm to pick the hamburg and frenchfries and put them onto the tray.",
      "measured": "simultaneously pick up the hamburger and fries with both arms, then place the hamburger in the left section of the tray and the fries in the right section, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_burger_fries",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_burger_fries.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_burger_fries.py",
      "catalog_path": "tasks/task12/catalog/31-background-plus-place-burger-fries/task.yaml",
      "catalog_sha256": "f9bd0f2bb40b9d1070776ce62b5e78a8924fdcf43f4a88f4640b6091a3fb58f1",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/31",
      "notes": []
    },
    {
      "key": "task12/31-camera-place-burger-fries",
      "id": "robotwin-plus/place-burger-fries-aloha-agilex-camera",
      "title": "Place burger fries",
      "native_task": "place_burger_fries",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "Use dual arm to pick the hamburg and frenchfries and put them onto the tray.",
      "measured": "simultaneously pick up the hamburger and fries with both arms, then place the hamburger in the left section of the tray and the fries in the right section, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_burger_fries",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_burger_fries.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_burger_fries.py",
      "catalog_path": "tasks/task12/catalog/31-camera-place-burger-fries/task.yaml",
      "catalog_sha256": "2f3a533c571a7dcce24f75f2a0cb4b5f4e0c33ec1ec5cef57293a194ad80152d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/31",
      "notes": []
    },
    {
      "key": "task12/31-clean-place-burger-fries",
      "id": "robotwin-plus/place-burger-fries-aloha-agilex-clean",
      "title": "Place burger fries",
      "native_task": "place_burger_fries",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "Use dual arm to pick the hamburg and frenchfries and put them onto the tray.",
      "measured": "simultaneously pick up the hamburger and fries with both arms, then place the hamburger in the left section of the tray and the fries in the right section, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_burger_fries",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_burger_fries.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_burger_fries.py",
      "catalog_path": "tasks/task12/catalog/31-clean-place-burger-fries/task.yaml",
      "catalog_sha256": "781e8e77e6578386217776f59f9d4eab142be8fa15ee7add5728ad4a1ba4856b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/31",
      "notes": []
    },
    {
      "key": "task12/31-language-plus-place-burger-fries",
      "id": "robotwin-plus/place-burger-fries-aloha-agilex-language-plus",
      "title": "Place burger fries",
      "native_task": "place_burger_fries",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "Use dual arm to pick the hamburg and frenchfries and put them onto the tray.",
      "measured": "simultaneously pick up the hamburger and fries with both arms, then place the hamburger in the left section of the tray and the fries in the right section, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/place_burger_fries",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_burger_fries.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_burger_fries.py",
      "catalog_path": "tasks/task12/catalog/31-language-plus-place-burger-fries/task.yaml",
      "catalog_sha256": "7da0b909f5e867d614b40d525365b04267c45068d5ccd65b561e7ba59f60e1b9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/31",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/31-light-place-burger-fries",
      "id": "robotwin-plus/place-burger-fries-aloha-agilex-light",
      "title": "Place burger fries",
      "native_task": "place_burger_fries",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "Use dual arm to pick the hamburg and frenchfries and put them onto the tray.",
      "measured": "simultaneously pick up the hamburger and fries with both arms, then place the hamburger in the left section of the tray and the fries in the right section, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_burger_fries",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_burger_fries.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_burger_fries.py",
      "catalog_path": "tasks/task12/catalog/31-light-place-burger-fries/task.yaml",
      "catalog_sha256": "5abf6980d6cbc1f342fd258cda0c3a2931342a102f35d63b43f23d9bd70cf18e",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/31",
      "notes": []
    },
    {
      "key": "task12/31-objects-plus-place-burger-fries",
      "id": "robotwin-plus/place-burger-fries-aloha-agilex-objects-plus",
      "title": "Place burger fries",
      "native_task": "place_burger_fries",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "Use dual arm to pick the hamburg and frenchfries and put them onto the tray.",
      "measured": "simultaneously pick up the hamburger and fries with both arms, then place the hamburger in the left section of the tray and the fries in the right section, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_burger_fries",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_burger_fries.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_burger_fries.py",
      "catalog_path": "tasks/task12/catalog/31-objects-plus-place-burger-fries/task.yaml",
      "catalog_sha256": "033dcd04f1f9c52b769b0b8dd3a631e41cbd1376e9b0f7b421d4eebc67794d10",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/31",
      "notes": []
    },
    {
      "key": "task12/31-robot-state-place-burger-fries",
      "id": "robotwin-plus/place-burger-fries-aloha-agilex-robot-state",
      "title": "Place burger fries",
      "native_task": "place_burger_fries",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "Use dual arm to pick the hamburg and frenchfries and put them onto the tray.",
      "measured": "simultaneously pick up the hamburger and fries with both arms, then place the hamburger in the left section of the tray and the fries in the right section, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_burger_fries",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_burger_fries.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_burger_fries.py",
      "catalog_path": "tasks/task12/catalog/31-robot-state-place-burger-fries/task.yaml",
      "catalog_sha256": "b2c2c00169f910a67eaf37598c2f54c44598f0cf417a5b7c8a8bf6586fd19d10",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/31",
      "notes": []
    },
    {
      "key": "task12/31-vision-noise-place-burger-fries",
      "id": "robotwin-plus/place-burger-fries-aloha-agilex-vision-noise",
      "title": "Place burger fries",
      "native_task": "place_burger_fries",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "Use dual arm to pick the hamburg and frenchfries and put them onto the tray.",
      "measured": "simultaneously pick up the hamburger and fries with both arms, then place the hamburger in the left section of the tray and the fries in the right section, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_burger_fries",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_burger_fries.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_burger_fries.py",
      "catalog_path": "tasks/task12/catalog/31-vision-noise-place-burger-fries/task.yaml",
      "catalog_sha256": "6ef77b2df75462ffbf1e87bad1300bd536beabfd5163dbe964abfd9ac98c9b8d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/31",
      "notes": []
    },
    {
      "key": "task12/32-background-plus-place-can-basket",
      "id": "robotwin-plus/place-can-basket-aloha-agilex-background-plus",
      "title": "Place can basket",
      "native_task": "place_can_basket",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "use one arm to pick up the can, put it into the basket, and use another arm to lift the basket",
      "measured": "use one arm to put the can inside the basket, then use the other arm to lift the basket with the can inside. Keep the basket upright and both the can and basket clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_can_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_can_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_can_basket.py",
      "catalog_path": "tasks/task12/catalog/32-background-plus-place-can-basket/task.yaml",
      "catalog_sha256": "989bf919b7fd47f1e7889f32de85cebd9cd9091e36da0f6209d752104b59792a",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/32",
      "notes": []
    },
    {
      "key": "task12/32-camera-place-can-basket",
      "id": "robotwin-plus/place-can-basket-aloha-agilex-camera",
      "title": "Place can basket",
      "native_task": "place_can_basket",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "use one arm to pick up the can, put it into the basket, and use another arm to lift the basket",
      "measured": "use one arm to put the can inside the basket, then use the other arm to lift the basket with the can inside. Keep the basket upright and both the can and basket clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_can_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_can_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_can_basket.py",
      "catalog_path": "tasks/task12/catalog/32-camera-place-can-basket/task.yaml",
      "catalog_sha256": "eb676a6393c49a88fc93b7fd2fbdc1ba9a7da80ceeca9a43124098d551fe50e6",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/32",
      "notes": []
    },
    {
      "key": "task12/32-clean-place-can-basket",
      "id": "robotwin-plus/place-can-basket-aloha-agilex-clean",
      "title": "Place can basket",
      "native_task": "place_can_basket",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "use one arm to pick up the can, put it into the basket, and use another arm to lift the basket",
      "measured": "use one arm to put the can inside the basket, then use the other arm to lift the basket with the can inside. Keep the basket upright and both the can and basket clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_can_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_can_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_can_basket.py",
      "catalog_path": "tasks/task12/catalog/32-clean-place-can-basket/task.yaml",
      "catalog_sha256": "c87de78391538569ec00ffc44ec77067e9ba582863024a38cafe85ea899b783e",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/32",
      "notes": []
    },
    {
      "key": "task12/32-language-plus-place-can-basket",
      "id": "robotwin-plus/place-can-basket-aloha-agilex-language-plus",
      "title": "Place can basket",
      "native_task": "place_can_basket",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "use one arm to pick up the can, put it into the basket, and use another arm to lift the basket",
      "measured": "use one arm to put the can inside the basket, then use the other arm to lift the basket with the can inside. Keep the basket upright and both the can and basket clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/place_can_basket",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_can_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_can_basket.py",
      "catalog_path": "tasks/task12/catalog/32-language-plus-place-can-basket/task.yaml",
      "catalog_sha256": "796a1555b79a587ea78d8bdf8875ae2cb5b2fb99de7fee13bb2fd705bf6e7a3a",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/32",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/32-light-place-can-basket",
      "id": "robotwin-plus/place-can-basket-aloha-agilex-light",
      "title": "Place can basket",
      "native_task": "place_can_basket",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "use one arm to pick up the can, put it into the basket, and use another arm to lift the basket",
      "measured": "use one arm to put the can inside the basket, then use the other arm to lift the basket with the can inside. Keep the basket upright and both the can and basket clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_can_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_can_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_can_basket.py",
      "catalog_path": "tasks/task12/catalog/32-light-place-can-basket/task.yaml",
      "catalog_sha256": "2c06ff46fdfb92392d879ed7f8d9f4ae2e81a5100f226b0061c75d4ffe365ec0",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/32",
      "notes": []
    },
    {
      "key": "task12/32-objects-plus-place-can-basket",
      "id": "robotwin-plus/place-can-basket-aloha-agilex-objects-plus",
      "title": "Place can basket",
      "native_task": "place_can_basket",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "use one arm to pick up the can, put it into the basket, and use another arm to lift the basket",
      "measured": "use one arm to put the can inside the basket, then use the other arm to lift the basket with the can inside. Keep the basket upright and both the can and basket clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_can_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_can_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_can_basket.py",
      "catalog_path": "tasks/task12/catalog/32-objects-plus-place-can-basket/task.yaml",
      "catalog_sha256": "ab3482eaccac3c5987fd36d4814772b8c9d6f62796651aaf938765cb739bbe13",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/32",
      "notes": []
    },
    {
      "key": "task12/32-robot-state-place-can-basket",
      "id": "robotwin-plus/place-can-basket-aloha-agilex-robot-state",
      "title": "Place can basket",
      "native_task": "place_can_basket",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "use one arm to pick up the can, put it into the basket, and use another arm to lift the basket",
      "measured": "use one arm to put the can inside the basket, then use the other arm to lift the basket with the can inside. Keep the basket upright and both the can and basket clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_can_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_can_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_can_basket.py",
      "catalog_path": "tasks/task12/catalog/32-robot-state-place-can-basket/task.yaml",
      "catalog_sha256": "cddaf146b1196bd56b510ee8cb70b579bb849e463e24175cd9844ca44a080b65",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/32",
      "notes": []
    },
    {
      "key": "task12/32-vision-noise-place-can-basket",
      "id": "robotwin-plus/place-can-basket-aloha-agilex-vision-noise",
      "title": "Place can basket",
      "native_task": "place_can_basket",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "use one arm to pick up the can, put it into the basket, and use another arm to lift the basket",
      "measured": "use one arm to put the can inside the basket, then use the other arm to lift the basket with the can inside. Keep the basket upright and both the can and basket clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_can_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_can_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_can_basket.py",
      "catalog_path": "tasks/task12/catalog/32-vision-noise-place-can-basket/task.yaml",
      "catalog_sha256": "7e57fbb8631434ca41fb9b76d0b65a4788ad6e48cae597320a647a501de5ffa0",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/32",
      "notes": []
    },
    {
      "key": "task12/33-background-plus-place-cans-plasticbox",
      "id": "robotwin-plus/place-cans-plasticbox-aloha-agilex-background-plus",
      "title": "Place cans plasticbox",
      "native_task": "place_cans_plasticbox",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "Use dual arm to pick and place cans into plasticbox",
      "measured": "simultaneously pick up both cans with separate arms, then place them side by side in the plastic box, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_cans_plasticbox",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_cans_plasticbox.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_cans_plasticbox.py",
      "catalog_path": "tasks/task12/catalog/33-background-plus-place-cans-plasticbox/task.yaml",
      "catalog_sha256": "62795d6eda1a8e91d6a5dd4a8d8a62a7bdc1c455a1c6ad689dbd4b1f542910a7",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/33",
      "notes": []
    },
    {
      "key": "task12/33-camera-place-cans-plasticbox",
      "id": "robotwin-plus/place-cans-plasticbox-aloha-agilex-camera",
      "title": "Place cans plasticbox",
      "native_task": "place_cans_plasticbox",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "Use dual arm to pick and place cans into plasticbox",
      "measured": "simultaneously pick up both cans with separate arms, then place them side by side in the plastic box, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_cans_plasticbox",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_cans_plasticbox.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_cans_plasticbox.py",
      "catalog_path": "tasks/task12/catalog/33-camera-place-cans-plasticbox/task.yaml",
      "catalog_sha256": "0d0ebd1e2571e48061135c0426669e61a4e74c64f2489af9b30d3e6abfe86999",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/33",
      "notes": []
    },
    {
      "key": "task12/33-clean-place-cans-plasticbox",
      "id": "robotwin-plus/place-cans-plasticbox-aloha-agilex-clean",
      "title": "Place cans plasticbox",
      "native_task": "place_cans_plasticbox",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "Use dual arm to pick and place cans into plasticbox",
      "measured": "simultaneously pick up both cans with separate arms, then place them side by side in the plastic box, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_cans_plasticbox",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_cans_plasticbox.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_cans_plasticbox.py",
      "catalog_path": "tasks/task12/catalog/33-clean-place-cans-plasticbox/task.yaml",
      "catalog_sha256": "099cf1c5f03798156dfff76aa7808ca3dc6611106d361b8a2bb0c63c2da3c308",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/33",
      "notes": []
    },
    {
      "key": "task12/33-language-plus-place-cans-plasticbox",
      "id": "robotwin-plus/place-cans-plasticbox-aloha-agilex-language-plus",
      "title": "Place cans plasticbox",
      "native_task": "place_cans_plasticbox",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "Use dual arm to pick and place cans into plasticbox",
      "measured": "simultaneously pick up both cans with separate arms, then place them side by side in the plastic box, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/place_cans_plasticbox",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_cans_plasticbox.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_cans_plasticbox.py",
      "catalog_path": "tasks/task12/catalog/33-language-plus-place-cans-plasticbox/task.yaml",
      "catalog_sha256": "2d9ddb3e8481e75d5f3acecdd8b611a659d9275e1323e3834225562fc5c66747",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/33",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/33-light-place-cans-plasticbox",
      "id": "robotwin-plus/place-cans-plasticbox-aloha-agilex-light",
      "title": "Place cans plasticbox",
      "native_task": "place_cans_plasticbox",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "Use dual arm to pick and place cans into plasticbox",
      "measured": "simultaneously pick up both cans with separate arms, then place them side by side in the plastic box, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_cans_plasticbox",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_cans_plasticbox.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_cans_plasticbox.py",
      "catalog_path": "tasks/task12/catalog/33-light-place-cans-plasticbox/task.yaml",
      "catalog_sha256": "d4b5e86c85c61f9cdbf095ea609216e6970e397f4b4ff242e503944e835e1e10",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/33",
      "notes": []
    },
    {
      "key": "task12/33-objects-plus-place-cans-plasticbox",
      "id": "robotwin-plus/place-cans-plasticbox-aloha-agilex-objects-plus",
      "title": "Place cans plasticbox",
      "native_task": "place_cans_plasticbox",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "Use dual arm to pick and place cans into plasticbox",
      "measured": "simultaneously pick up both cans with separate arms, then place them side by side in the plastic box, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_cans_plasticbox",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_cans_plasticbox.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_cans_plasticbox.py",
      "catalog_path": "tasks/task12/catalog/33-objects-plus-place-cans-plasticbox/task.yaml",
      "catalog_sha256": "59117af463981bd654547952d7868ff3a451a693345f48adf9331ef981a4ef61",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/33",
      "notes": []
    },
    {
      "key": "task12/33-robot-state-place-cans-plasticbox",
      "id": "robotwin-plus/place-cans-plasticbox-aloha-agilex-robot-state",
      "title": "Place cans plasticbox",
      "native_task": "place_cans_plasticbox",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "Use dual arm to pick and place cans into plasticbox",
      "measured": "simultaneously pick up both cans with separate arms, then place them side by side in the plastic box, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_cans_plasticbox",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_cans_plasticbox.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_cans_plasticbox.py",
      "catalog_path": "tasks/task12/catalog/33-robot-state-place-cans-plasticbox/task.yaml",
      "catalog_sha256": "1e67da5dd27bf0807d9f2e7e3c59240854a1db6598726bd600f4cd3e37aa8d97",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/33",
      "notes": []
    },
    {
      "key": "task12/33-vision-noise-place-cans-plasticbox",
      "id": "robotwin-plus/place-cans-plasticbox-aloha-agilex-vision-noise",
      "title": "Place cans plasticbox",
      "native_task": "place_cans_plasticbox",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "Use dual arm to pick and place cans into plasticbox",
      "measured": "simultaneously pick up both cans with separate arms, then place them side by side in the plastic box, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_cans_plasticbox",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_cans_plasticbox.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_cans_plasticbox.py",
      "catalog_path": "tasks/task12/catalog/33-vision-noise-place-cans-plasticbox/task.yaml",
      "catalog_sha256": "3f98d03faddd83ffe565f9aacaf5a3034220a000a8ce739d7ff00f7709bfa715",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/33",
      "notes": []
    },
    {
      "key": "task12/34-background-plus-place-container-plate",
      "id": "robotwin-plus/place-container-plate-aloha-agilex-background-plus",
      "title": "Place container plate",
      "native_task": "place_container_plate",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "place the container onto the plate",
      "measured": "place the container in the center of the plate, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_container_plate",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_container_plate.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_container_plate.py",
      "catalog_path": "tasks/task12/catalog/34-background-plus-place-container-plate/task.yaml",
      "catalog_sha256": "acc6ab9fed592f13beaf0cea7e43f4da6203d48d7741229998d9095766d5e814",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/34",
      "notes": []
    },
    {
      "key": "task12/34-camera-place-container-plate",
      "id": "robotwin-plus/place-container-plate-aloha-agilex-camera",
      "title": "Place container plate",
      "native_task": "place_container_plate",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "place the container onto the plate",
      "measured": "place the container in the center of the plate, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_container_plate",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_container_plate.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_container_plate.py",
      "catalog_path": "tasks/task12/catalog/34-camera-place-container-plate/task.yaml",
      "catalog_sha256": "069ce7395475cbd69583e1e85e5eafa8ad3a2739d9b48c6d317319e5859f7bf2",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/34",
      "notes": []
    },
    {
      "key": "task12/34-clean-place-container-plate",
      "id": "robotwin-plus/place-container-plate-aloha-agilex-clean",
      "title": "Place container plate",
      "native_task": "place_container_plate",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "place the container onto the plate",
      "measured": "place the container in the center of the plate, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_container_plate",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_container_plate.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_container_plate.py",
      "catalog_path": "tasks/task12/catalog/34-clean-place-container-plate/task.yaml",
      "catalog_sha256": "72b2eedaaeab66f768232de0a8261f99ae0a5d01a244849a4fb2b5553dcd0919",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/34",
      "notes": []
    },
    {
      "key": "task12/34-language-plus-place-container-plate",
      "id": "robotwin-plus/place-container-plate-aloha-agilex-language-plus",
      "title": "Place container plate",
      "native_task": "place_container_plate",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "place the container onto the plate",
      "measured": "place the container in the center of the plate, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/place_container_plate",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_container_plate.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_container_plate.py",
      "catalog_path": "tasks/task12/catalog/34-language-plus-place-container-plate/task.yaml",
      "catalog_sha256": "c9afbe98734e9a75727e3d033cddb44b3c89cf478f68a5162cdcf6af11bc847b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/34",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/34-light-place-container-plate",
      "id": "robotwin-plus/place-container-plate-aloha-agilex-light",
      "title": "Place container plate",
      "native_task": "place_container_plate",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "place the container onto the plate",
      "measured": "place the container in the center of the plate, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_container_plate",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_container_plate.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_container_plate.py",
      "catalog_path": "tasks/task12/catalog/34-light-place-container-plate/task.yaml",
      "catalog_sha256": "8de23957e36923f243d0ff0cfa667783dc58e20c5006261ec19be6802fe97248",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/34",
      "notes": []
    },
    {
      "key": "task12/34-objects-plus-place-container-plate",
      "id": "robotwin-plus/place-container-plate-aloha-agilex-objects-plus",
      "title": "Place container plate",
      "native_task": "place_container_plate",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "place the container onto the plate",
      "measured": "place the container in the center of the plate, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_container_plate",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_container_plate.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_container_plate.py",
      "catalog_path": "tasks/task12/catalog/34-objects-plus-place-container-plate/task.yaml",
      "catalog_sha256": "cdc3d43c065bcbe2ea83ae31bacfa5b8caa3e31a959297f414ef0cdd07ca4597",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/34",
      "notes": []
    },
    {
      "key": "task12/34-robot-state-place-container-plate",
      "id": "robotwin-plus/place-container-plate-aloha-agilex-robot-state",
      "title": "Place container plate",
      "native_task": "place_container_plate",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "place the container onto the plate",
      "measured": "place the container in the center of the plate, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_container_plate",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_container_plate.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_container_plate.py",
      "catalog_path": "tasks/task12/catalog/34-robot-state-place-container-plate/task.yaml",
      "catalog_sha256": "bba0a052694d6845af2c3f5b100eec2dd31f9bfd1776fea75140d7f3f144a377",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/34",
      "notes": []
    },
    {
      "key": "task12/34-vision-noise-place-container-plate",
      "id": "robotwin-plus/place-container-plate-aloha-agilex-vision-noise",
      "title": "Place container plate",
      "native_task": "place_container_plate",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "place the container onto the plate",
      "measured": "place the container in the center of the plate, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_container_plate",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_container_plate.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_container_plate.py",
      "catalog_path": "tasks/task12/catalog/34-vision-noise-place-container-plate/task.yaml",
      "catalog_sha256": "d8e995d9b72de38fa178756207656a3544f7a4f885a71814942ed8cf5f35acb6",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/34",
      "notes": []
    },
    {
      "key": "task12/35-background-plus-place-empty-cup",
      "id": "robotwin-plus/place-empty-cup-aloha-agilex-background-plus",
      "title": "Place empty cup",
      "native_task": "place_empty_cup",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "use an arm to place the empty cup on the coaster",
      "measured": "place the empty cup in the center of the coaster, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_empty_cup",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_empty_cup.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_empty_cup.py",
      "catalog_path": "tasks/task12/catalog/35-background-plus-place-empty-cup/task.yaml",
      "catalog_sha256": "e0994a587e1748dc2ccb3c9a35361f8b9682c350fa2203d3f05e3645b8b76f3e",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/35",
      "notes": []
    },
    {
      "key": "task12/35-camera-place-empty-cup",
      "id": "robotwin-plus/place-empty-cup-aloha-agilex-camera",
      "title": "Place empty cup",
      "native_task": "place_empty_cup",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "use an arm to place the empty cup on the coaster",
      "measured": "place the empty cup in the center of the coaster, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_empty_cup",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_empty_cup.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_empty_cup.py",
      "catalog_path": "tasks/task12/catalog/35-camera-place-empty-cup/task.yaml",
      "catalog_sha256": "ecb5280865b7eb3c500d8359eb1f01a529518ea628d4f071137df76ee7d05586",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/35",
      "notes": []
    },
    {
      "key": "task12/35-clean-place-empty-cup",
      "id": "robotwin-plus/place-empty-cup-aloha-agilex-clean",
      "title": "Place empty cup",
      "native_task": "place_empty_cup",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "use an arm to place the empty cup on the coaster",
      "measured": "place the empty cup in the center of the coaster, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_empty_cup",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_empty_cup.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_empty_cup.py",
      "catalog_path": "tasks/task12/catalog/35-clean-place-empty-cup/task.yaml",
      "catalog_sha256": "2dbf4ff307619d29af2dfc640098cdd3a9eec2c899b44c4fa1ba8750a61fb514",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/35",
      "notes": []
    },
    {
      "key": "task12/35-language-plus-place-empty-cup",
      "id": "robotwin-plus/place-empty-cup-aloha-agilex-language-plus",
      "title": "Place empty cup",
      "native_task": "place_empty_cup",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "use an arm to place the empty cup on the coaster",
      "measured": "place the empty cup in the center of the coaster, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/place_empty_cup",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_empty_cup.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_empty_cup.py",
      "catalog_path": "tasks/task12/catalog/35-language-plus-place-empty-cup/task.yaml",
      "catalog_sha256": "4c4ccadcd39aa9f193b89e12435ab15ae9d62801a9d085fcb13bfa87c433d053",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/35",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/35-light-place-empty-cup",
      "id": "robotwin-plus/place-empty-cup-aloha-agilex-light",
      "title": "Place empty cup",
      "native_task": "place_empty_cup",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "use an arm to place the empty cup on the coaster",
      "measured": "place the empty cup in the center of the coaster, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_empty_cup",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_empty_cup.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_empty_cup.py",
      "catalog_path": "tasks/task12/catalog/35-light-place-empty-cup/task.yaml",
      "catalog_sha256": "eb367b21c88578d6207125f72a41e303753382fa16226380ef474ff1cf3ba1ad",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/35",
      "notes": []
    },
    {
      "key": "task12/35-objects-plus-place-empty-cup",
      "id": "robotwin-plus/place-empty-cup-aloha-agilex-objects-plus",
      "title": "Place empty cup",
      "native_task": "place_empty_cup",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "use an arm to place the empty cup on the coaster",
      "measured": "place the empty cup in the center of the coaster, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_empty_cup",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_empty_cup.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_empty_cup.py",
      "catalog_path": "tasks/task12/catalog/35-objects-plus-place-empty-cup/task.yaml",
      "catalog_sha256": "e1b4be507577076dd24c2442a2f1345e47cf653af6c01b067b890720a96763e7",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/35",
      "notes": []
    },
    {
      "key": "task12/35-robot-state-place-empty-cup",
      "id": "robotwin-plus/place-empty-cup-aloha-agilex-robot-state",
      "title": "Place empty cup",
      "native_task": "place_empty_cup",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "use an arm to place the empty cup on the coaster",
      "measured": "place the empty cup in the center of the coaster, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_empty_cup",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_empty_cup.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_empty_cup.py",
      "catalog_path": "tasks/task12/catalog/35-robot-state-place-empty-cup/task.yaml",
      "catalog_sha256": "cff62d25df40dc87f16ed73545b788267d0d354503d8f3867290ec3aa2a5dc45",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/35",
      "notes": []
    },
    {
      "key": "task12/35-vision-noise-place-empty-cup",
      "id": "robotwin-plus/place-empty-cup-aloha-agilex-vision-noise",
      "title": "Place empty cup",
      "native_task": "place_empty_cup",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "use an arm to place the empty cup on the coaster",
      "measured": "place the empty cup in the center of the coaster, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_empty_cup",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_empty_cup.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_empty_cup.py",
      "catalog_path": "tasks/task12/catalog/35-vision-noise-place-empty-cup/task.yaml",
      "catalog_sha256": "ef2a7e7eb68d5745a466208996b052a62d2d7d295f2f912955cdfd3c794954ed",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/35",
      "notes": []
    },
    {
      "key": "task12/36-background-plus-place-fan",
      "id": "robotwin-plus/place-fan-aloha-agilex-background-plus",
      "title": "Place fan",
      "native_task": "place_fan",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "grab the fan and place it on a colored mat, <make sure the fan is facing the robot!(THIS MUST BE REFERRED TO>",
      "measured": "place the fan in the center of the colored mat, facing the robot, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_fan",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_fan.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_fan.py",
      "catalog_path": "tasks/task12/catalog/36-background-plus-place-fan/task.yaml",
      "catalog_sha256": "b7d0d5ecf16103888e0182a662b3b5dcbed5301c6fef89c58848719392446a84",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/36",
      "notes": []
    },
    {
      "key": "task12/36-camera-place-fan",
      "id": "robotwin-plus/place-fan-aloha-agilex-camera",
      "title": "Place fan",
      "native_task": "place_fan",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "grab the fan and place it on a colored mat, <make sure the fan is facing the robot!(THIS MUST BE REFERRED TO>",
      "measured": "place the fan in the center of the colored mat, facing the robot, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_fan",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_fan.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_fan.py",
      "catalog_path": "tasks/task12/catalog/36-camera-place-fan/task.yaml",
      "catalog_sha256": "c12d5fe1344272799f79ffb09712d8412e2d59d064b3ab47cc2250519cae9187",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/36",
      "notes": []
    },
    {
      "key": "task12/36-clean-place-fan",
      "id": "robotwin-plus/place-fan-aloha-agilex-clean",
      "title": "Place fan",
      "native_task": "place_fan",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "grab the fan and place it on a colored mat, <make sure the fan is facing the robot!(THIS MUST BE REFERRED TO>",
      "measured": "place the fan in the center of the colored mat, facing the robot, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_fan",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_fan.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_fan.py",
      "catalog_path": "tasks/task12/catalog/36-clean-place-fan/task.yaml",
      "catalog_sha256": "f51c406b0c1ad1ed65a06cba66b4b2e4e58c336a12489840d7acd45e3a9488c1",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/36",
      "notes": []
    },
    {
      "key": "task12/36-language-plus-place-fan",
      "id": "robotwin-plus/place-fan-aloha-agilex-language-plus",
      "title": "Place fan",
      "native_task": "place_fan",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "grab the fan and place it on a colored mat, make sure the fan is facing the robot!",
      "measured": "place the fan in the center of the colored mat, facing the robot, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/place_fan",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_fan.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_fan.py",
      "catalog_path": "tasks/task12/catalog/36-language-plus-place-fan/task.yaml",
      "catalog_sha256": "a1fd141fa5a61980cdecc85fc5484e9ebd7cc5f5525e6646fdc50f544b7ab5a9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/36",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/36-light-place-fan",
      "id": "robotwin-plus/place-fan-aloha-agilex-light",
      "title": "Place fan",
      "native_task": "place_fan",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "grab the fan and place it on a colored mat, <make sure the fan is facing the robot!(THIS MUST BE REFERRED TO>",
      "measured": "place the fan in the center of the colored mat, facing the robot, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_fan",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_fan.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_fan.py",
      "catalog_path": "tasks/task12/catalog/36-light-place-fan/task.yaml",
      "catalog_sha256": "f9e1670cebd339bd172f22dd2ebd3aa20a586f7a21f73eb1b86888219276dc8c",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/36",
      "notes": []
    },
    {
      "key": "task12/36-objects-plus-place-fan",
      "id": "robotwin-plus/place-fan-aloha-agilex-objects-plus",
      "title": "Place fan",
      "native_task": "place_fan",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "grab the fan and place it on a colored mat, <make sure the fan is facing the robot!(THIS MUST BE REFERRED TO>",
      "measured": "place the fan in the center of the colored mat, facing the robot, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_fan",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_fan.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_fan.py",
      "catalog_path": "tasks/task12/catalog/36-objects-plus-place-fan/task.yaml",
      "catalog_sha256": "1e1db7563a5d62d38bb32c6ff83f431a407d1ae08fc09666c7efb54d2eb9f4c9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/36",
      "notes": []
    },
    {
      "key": "task12/36-robot-state-place-fan",
      "id": "robotwin-plus/place-fan-aloha-agilex-robot-state",
      "title": "Place fan",
      "native_task": "place_fan",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "grab the fan and place it on a colored mat, <make sure the fan is facing the robot!(THIS MUST BE REFERRED TO>",
      "measured": "place the fan in the center of the colored mat, facing the robot, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_fan",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_fan.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_fan.py",
      "catalog_path": "tasks/task12/catalog/36-robot-state-place-fan/task.yaml",
      "catalog_sha256": "836ddeac0195820d3c5deeb263f8be2aa695e8cf27d63d5454fc3e5fa079940e",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/36",
      "notes": []
    },
    {
      "key": "task12/36-vision-noise-place-fan",
      "id": "robotwin-plus/place-fan-aloha-agilex-vision-noise",
      "title": "Place fan",
      "native_task": "place_fan",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "grab the fan and place it on a colored mat, <make sure the fan is facing the robot!(THIS MUST BE REFERRED TO>",
      "measured": "place the fan in the center of the colored mat, facing the robot, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_fan",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_fan.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_fan.py",
      "catalog_path": "tasks/task12/catalog/36-vision-noise-place-fan/task.yaml",
      "catalog_sha256": "22f5dff87742b5d0ffe493acda6499efce5a80f458e2e7ea297e7e414e142714",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/36",
      "notes": []
    },
    {
      "key": "task12/37-background-plus-place-mouse-pad",
      "id": "robotwin-plus/place-mouse-pad-aloha-agilex-background-plus",
      "title": "Place mouse pad",
      "native_task": "place_mouse_pad",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "grab the mouse and place it on a colored mat",
      "measured": "place the mouse in the center of the colored mat, facing straight, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_mouse_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_mouse_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_mouse_pad.py",
      "catalog_path": "tasks/task12/catalog/37-background-plus-place-mouse-pad/task.yaml",
      "catalog_sha256": "218ff101456dae659f9f5725b26266e1e44024151d50f8d8775a42e076165659",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/37",
      "notes": []
    },
    {
      "key": "task12/37-camera-place-mouse-pad",
      "id": "robotwin-plus/place-mouse-pad-aloha-agilex-camera",
      "title": "Place mouse pad",
      "native_task": "place_mouse_pad",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "grab the mouse and place it on a colored mat",
      "measured": "place the mouse in the center of the colored mat, facing straight, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_mouse_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_mouse_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_mouse_pad.py",
      "catalog_path": "tasks/task12/catalog/37-camera-place-mouse-pad/task.yaml",
      "catalog_sha256": "abd8f813d11a97ecded4f24d65b0789ace50e44d21af6592f008d72e2e52b146",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/37",
      "notes": []
    },
    {
      "key": "task12/37-clean-place-mouse-pad",
      "id": "robotwin-plus/place-mouse-pad-aloha-agilex-clean",
      "title": "Place mouse pad",
      "native_task": "place_mouse_pad",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "grab the mouse and place it on a colored mat",
      "measured": "place the mouse in the center of the colored mat, facing straight, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_mouse_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_mouse_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_mouse_pad.py",
      "catalog_path": "tasks/task12/catalog/37-clean-place-mouse-pad/task.yaml",
      "catalog_sha256": "c0bd28a0d4486c519921df4156c1f5a1ba781c845271cdffb670a068a84a4c18",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/37",
      "notes": []
    },
    {
      "key": "task12/37-language-plus-place-mouse-pad",
      "id": "robotwin-plus/place-mouse-pad-aloha-agilex-language-plus",
      "title": "Place mouse pad",
      "native_task": "place_mouse_pad",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "grab the mouse pad and place it on a colored mat",
      "measured": "place the mouse in the center of the colored mat, facing straight, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/place_mouse_pad",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_mouse_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_mouse_pad.py",
      "catalog_path": "tasks/task12/catalog/37-language-plus-place-mouse-pad/task.yaml",
      "catalog_sha256": "5229034b404abf04fa19e78d7b1e3afbb049f2bae2c925442d3454195da10a9c",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/37",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/37-light-place-mouse-pad",
      "id": "robotwin-plus/place-mouse-pad-aloha-agilex-light",
      "title": "Place mouse pad",
      "native_task": "place_mouse_pad",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "grab the mouse and place it on a colored mat",
      "measured": "place the mouse in the center of the colored mat, facing straight, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_mouse_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_mouse_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_mouse_pad.py",
      "catalog_path": "tasks/task12/catalog/37-light-place-mouse-pad/task.yaml",
      "catalog_sha256": "d4ff9a818ba4fab5e1f6f2929d26e59ff5d36f82d9880a519cd67333fb27ee01",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/37",
      "notes": []
    },
    {
      "key": "task12/37-objects-plus-place-mouse-pad",
      "id": "robotwin-plus/place-mouse-pad-aloha-agilex-objects-plus",
      "title": "Place mouse pad",
      "native_task": "place_mouse_pad",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "grab the mouse and place it on a colored mat",
      "measured": "place the mouse in the center of the colored mat, facing straight, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_mouse_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_mouse_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_mouse_pad.py",
      "catalog_path": "tasks/task12/catalog/37-objects-plus-place-mouse-pad/task.yaml",
      "catalog_sha256": "9f471f3b1e0ef6c7e5023462575c9352fdb91f84f7aa4b2fc041372dbd8b5fbb",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/37",
      "notes": []
    },
    {
      "key": "task12/37-robot-state-place-mouse-pad",
      "id": "robotwin-plus/place-mouse-pad-aloha-agilex-robot-state",
      "title": "Place mouse pad",
      "native_task": "place_mouse_pad",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "grab the mouse and place it on a colored mat",
      "measured": "place the mouse in the center of the colored mat, facing straight, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_mouse_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_mouse_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_mouse_pad.py",
      "catalog_path": "tasks/task12/catalog/37-robot-state-place-mouse-pad/task.yaml",
      "catalog_sha256": "82d27b0ce7440783509373e908bc3fe6f6b9ee1336810e7b44a760f034b31493",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/37",
      "notes": []
    },
    {
      "key": "task12/37-vision-noise-place-mouse-pad",
      "id": "robotwin-plus/place-mouse-pad-aloha-agilex-vision-noise",
      "title": "Place mouse pad",
      "native_task": "place_mouse_pad",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "grab the mouse and place it on a colored mat",
      "measured": "place the mouse in the center of the colored mat, facing straight, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_mouse_pad",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_mouse_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_mouse_pad.py",
      "catalog_path": "tasks/task12/catalog/37-vision-noise-place-mouse-pad/task.yaml",
      "catalog_sha256": "1cec40b1270fdd4df204a07142b56486b92662849fb73ef178ac2238fbc91b6d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/37",
      "notes": []
    },
    {
      "key": "task12/38-background-plus-place-object-basket",
      "id": "robotwin-plus/place-object-basket-aloha-agilex-background-plus",
      "title": "Place object basket",
      "native_task": "place_object_basket",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "use one arm to grab the target object and put it in the basket, then use the other arm to grab the basket, and finally move the basket slightly away",
      "measured": "Use one arm to place the {object_description} inside the basket, then use the other arm to lift the basket with the object inside. Keep the basket upright and both the object and basket clear of the table.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_basket.py",
      "catalog_path": "tasks/task12/catalog/38-background-plus-place-object-basket/task.yaml",
      "catalog_sha256": "83566eb677db9aed35138dd126f278761c6de269c8cdf72e3ad2d789c3b0835c",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/38",
      "notes": [
        "Makes the final lifted, upright basket state explicit; the object must remain inside.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/38-camera-place-object-basket",
      "id": "robotwin-plus/place-object-basket-aloha-agilex-camera",
      "title": "Place object basket",
      "native_task": "place_object_basket",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "use one arm to grab the target object and put it in the basket, then use the other arm to grab the basket, and finally move the basket slightly away",
      "measured": "Use one arm to place the {object_description} inside the basket, then use the other arm to lift the basket with the object inside. Keep the basket upright and both the object and basket clear of the table.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_basket.py",
      "catalog_path": "tasks/task12/catalog/38-camera-place-object-basket/task.yaml",
      "catalog_sha256": "4b0bb67658e41f5e0a9ed99643d888219444c1befafedf91bd1056a3c15a72a9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/38",
      "notes": [
        "Makes the final lifted, upright basket state explicit; the object must remain inside.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/38-clean-place-object-basket",
      "id": "robotwin-plus/place-object-basket-aloha-agilex-clean",
      "title": "Place object basket",
      "native_task": "place_object_basket",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "use one arm to grab the target object and put it in the basket, then use the other arm to grab the basket, and finally move the basket slightly away",
      "measured": "Use one arm to place the {object_description} inside the basket, then use the other arm to lift the basket with the object inside. Keep the basket upright and both the object and basket clear of the table.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_basket.py",
      "catalog_path": "tasks/task12/catalog/38-clean-place-object-basket/task.yaml",
      "catalog_sha256": "533f5a4ff33cee1f780bd2d7ef11d1ec8fef3522e288ec76e5b813426ceafa62",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/38",
      "notes": [
        "Makes the final lifted, upright basket state explicit; the object must remain inside.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/38-language-plus-place-object-basket",
      "id": "robotwin-plus/place-object-basket-aloha-agilex-language-plus",
      "title": "Place object basket",
      "native_task": "place_object_basket",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "use one arm to grab the target object and put it in the basket, then use the other arm to grab the basket, and finally move the basket slightly away",
      "measured": "Use one arm to place the {object_description} inside the basket, then use the other arm to lift the basket with the object inside. Keep the basket upright and both the object and basket clear of the table.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction_plus/place_object_basket",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_object_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_basket.py",
      "catalog_path": "tasks/task12/catalog/38-language-plus-place-object-basket/task.yaml",
      "catalog_sha256": "be9a6704fb82c24f68504024d2a12d188e881e9ba7568607c938bd4c3065f8c7",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/38",
      "notes": [
        "Makes the final lifted, upright basket state explicit; the object must remain inside.",
        "Target descriptions are bound from the initialized scene.",
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/38-light-place-object-basket",
      "id": "robotwin-plus/place-object-basket-aloha-agilex-light",
      "title": "Place object basket",
      "native_task": "place_object_basket",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "use one arm to grab the target object and put it in the basket, then use the other arm to grab the basket, and finally move the basket slightly away",
      "measured": "Use one arm to place the {object_description} inside the basket, then use the other arm to lift the basket with the object inside. Keep the basket upright and both the object and basket clear of the table.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_basket.py",
      "catalog_path": "tasks/task12/catalog/38-light-place-object-basket/task.yaml",
      "catalog_sha256": "8464491a435638f8b7ad7d3d3e701f2b98dc862c818a4f0af4e43b91a806267e",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/38",
      "notes": [
        "Makes the final lifted, upright basket state explicit; the object must remain inside.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/38-objects-plus-place-object-basket",
      "id": "robotwin-plus/place-object-basket-aloha-agilex-objects-plus",
      "title": "Place object basket",
      "native_task": "place_object_basket",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "use one arm to grab the target object and put it in the basket, then use the other arm to grab the basket, and finally move the basket slightly away",
      "measured": "Use one arm to place the {object_description} inside the basket, then use the other arm to lift the basket with the object inside. Keep the basket upright and both the object and basket clear of the table.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_basket.py",
      "catalog_path": "tasks/task12/catalog/38-objects-plus-place-object-basket/task.yaml",
      "catalog_sha256": "1128679c510d0d7ad1f567875997c6a679c91f5ce8d2e757c07758432f5b3df3",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/38",
      "notes": [
        "Makes the final lifted, upright basket state explicit; the object must remain inside.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/38-robot-state-place-object-basket",
      "id": "robotwin-plus/place-object-basket-aloha-agilex-robot-state",
      "title": "Place object basket",
      "native_task": "place_object_basket",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "use one arm to grab the target object and put it in the basket, then use the other arm to grab the basket, and finally move the basket slightly away",
      "measured": "Use one arm to place the {object_description} inside the basket, then use the other arm to lift the basket with the object inside. Keep the basket upright and both the object and basket clear of the table.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_basket.py",
      "catalog_path": "tasks/task12/catalog/38-robot-state-place-object-basket/task.yaml",
      "catalog_sha256": "2d3c35869a60060d9f973c60b56bb5226f2cfc8e784e4b3397fd51aae60f9523",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/38",
      "notes": [
        "Makes the final lifted, upright basket state explicit; the object must remain inside.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/38-vision-noise-place-object-basket",
      "id": "robotwin-plus/place-object-basket-aloha-agilex-vision-noise",
      "title": "Place object basket",
      "native_task": "place_object_basket",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "use one arm to grab the target object and put it in the basket, then use the other arm to grab the basket, and finally move the basket slightly away",
      "measured": "Use one arm to place the {object_description} inside the basket, then use the other arm to lift the basket with the object inside. Keep the basket upright and both the object and basket clear of the table.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_basket",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_basket.py",
      "catalog_path": "tasks/task12/catalog/38-vision-noise-place-object-basket/task.yaml",
      "catalog_sha256": "095da0e5942efe464b8cd9d40b215a52b034183d7aec6a828041ef1301dddfd2",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/38",
      "notes": [
        "Makes the final lifted, upright basket state explicit; the object must remain inside.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/39-background-plus-place-object-scale",
      "id": "robotwin-plus/place-object-scale-aloha-agilex-background-plus",
      "title": "Place object scale",
      "native_task": "place_object_scale",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "use one arm to grab the object and put it on the scale",
      "measured": "Place the {object_description} in the center of the scale's weighing platform. Leave the gripper on the object's starting side open.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_scale",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_scale.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_scale.py",
      "catalog_path": "tasks/task12/catalog/39-background-plus-place-object-scale/task.yaml",
      "catalog_sha256": "e0b006731a9e55f1df7824535e7fb52b81823df21957b165ec0f6a66eb29dae2",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/39",
      "notes": [
        "Clarifies central placement on the weighing platform and gripper release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/39-camera-place-object-scale",
      "id": "robotwin-plus/place-object-scale-aloha-agilex-camera",
      "title": "Place object scale",
      "native_task": "place_object_scale",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "use one arm to grab the object and put it on the scale",
      "measured": "Place the {object_description} in the center of the scale's weighing platform. Leave the gripper on the object's starting side open.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_scale",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_scale.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_scale.py",
      "catalog_path": "tasks/task12/catalog/39-camera-place-object-scale/task.yaml",
      "catalog_sha256": "ad9b19b8c5659a45ffc1a1eef9b9425dd100ba157437b4fb55f2fc4ed7e4f55c",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/39",
      "notes": [
        "Clarifies central placement on the weighing platform and gripper release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/39-clean-place-object-scale",
      "id": "robotwin-plus/place-object-scale-aloha-agilex-clean",
      "title": "Place object scale",
      "native_task": "place_object_scale",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "use one arm to grab the object and put it on the scale",
      "measured": "Place the {object_description} in the center of the scale's weighing platform. Leave the gripper on the object's starting side open.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_scale",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_scale.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_scale.py",
      "catalog_path": "tasks/task12/catalog/39-clean-place-object-scale/task.yaml",
      "catalog_sha256": "d9032160974765b0abfabd8a8263ab6d6f5ae6f3244400d41e5d8e5bd0837aa8",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/39",
      "notes": [
        "Clarifies central placement on the weighing platform and gripper release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/39-language-plus-place-object-scale",
      "id": "robotwin-plus/place-object-scale-aloha-agilex-language-plus",
      "title": "Place object scale",
      "native_task": "place_object_scale",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "use one arm to grab the object and put it on the scale",
      "measured": "Place the {object_description} in the center of the scale's weighing platform. Leave the gripper on the object's starting side open.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction_plus/place_object_scale",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_object_scale.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_scale.py",
      "catalog_path": "tasks/task12/catalog/39-language-plus-place-object-scale/task.yaml",
      "catalog_sha256": "869a50a36cd9341be8746727ac3ea48e274eb71542856da7904c6413ed3cb98d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/39",
      "notes": [
        "Clarifies central placement on the weighing platform and gripper release.",
        "Target descriptions are bound from the initialized scene.",
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/39-light-place-object-scale",
      "id": "robotwin-plus/place-object-scale-aloha-agilex-light",
      "title": "Place object scale",
      "native_task": "place_object_scale",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "use one arm to grab the object and put it on the scale",
      "measured": "Place the {object_description} in the center of the scale's weighing platform. Leave the gripper on the object's starting side open.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_scale",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_scale.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_scale.py",
      "catalog_path": "tasks/task12/catalog/39-light-place-object-scale/task.yaml",
      "catalog_sha256": "45a70a6fc3f430c47dc3701462a4621bd3b811cd25f9d18384f988a23deaef42",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/39",
      "notes": [
        "Clarifies central placement on the weighing platform and gripper release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/39-objects-plus-place-object-scale",
      "id": "robotwin-plus/place-object-scale-aloha-agilex-objects-plus",
      "title": "Place object scale",
      "native_task": "place_object_scale",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "use one arm to grab the object and put it on the scale",
      "measured": "Place the {object_description} in the center of the scale's weighing platform. Leave the gripper on the object's starting side open.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_scale",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_scale.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_scale.py",
      "catalog_path": "tasks/task12/catalog/39-objects-plus-place-object-scale/task.yaml",
      "catalog_sha256": "bf051c1e19eae6889a14093761ace01f161167e26c681db8bea61906f2d38bf1",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/39",
      "notes": [
        "Clarifies central placement on the weighing platform and gripper release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/39-robot-state-place-object-scale",
      "id": "robotwin-plus/place-object-scale-aloha-agilex-robot-state",
      "title": "Place object scale",
      "native_task": "place_object_scale",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "use one arm to grab the object and put it on the scale",
      "measured": "Place the {object_description} in the center of the scale's weighing platform. Leave the gripper on the object's starting side open.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_scale",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_scale.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_scale.py",
      "catalog_path": "tasks/task12/catalog/39-robot-state-place-object-scale/task.yaml",
      "catalog_sha256": "88b171cab0e4990c0b26fc9eb4387dea9d4f32b8ebc5b45c5b784963c0bc6f06",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/39",
      "notes": [
        "Clarifies central placement on the weighing platform and gripper release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/39-vision-noise-place-object-scale",
      "id": "robotwin-plus/place-object-scale-aloha-agilex-vision-noise",
      "title": "Place object scale",
      "native_task": "place_object_scale",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "use one arm to grab the object and put it on the scale",
      "measured": "Place the {object_description} in the center of the scale's weighing platform. Leave the gripper on the object's starting side open.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_scale",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_scale.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_scale.py",
      "catalog_path": "tasks/task12/catalog/39-vision-noise-place-object-scale/task.yaml",
      "catalog_sha256": "35188adaccd0ab327bbbb4550577816bfd269027fae275928eeed3d99670c9d7",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/39",
      "notes": [
        "Clarifies central placement on the weighing platform and gripper release.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/40-background-plus-place-object-stand",
      "id": "robotwin-plus/place-object-stand-aloha-agilex-background-plus",
      "title": "Place object stand",
      "native_task": "place_object_stand",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "use appropriate arm to place the object on the stand",
      "measured": "Set the {object_description} on the center of the display stand, leaving both grippers open.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_stand",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_stand.py",
      "catalog_path": "tasks/task12/catalog/40-background-plus-place-object-stand/task.yaml",
      "catalog_sha256": "31b0061e36481aa6e3bac739284cde46666758279747e2cfaa90af6c64b42cb2",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/40",
      "notes": [
        "Clarifies centered placement and open grippers.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/40-camera-place-object-stand",
      "id": "robotwin-plus/place-object-stand-aloha-agilex-camera",
      "title": "Place object stand",
      "native_task": "place_object_stand",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "use appropriate arm to place the object on the stand",
      "measured": "Set the {object_description} on the center of the display stand, leaving both grippers open.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_stand",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_stand.py",
      "catalog_path": "tasks/task12/catalog/40-camera-place-object-stand/task.yaml",
      "catalog_sha256": "1021f5a5e232cb0e4f42ab36fe32f3075551b228a4091436e48d2d48b2b5fdbb",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/40",
      "notes": [
        "Clarifies centered placement and open grippers.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/40-clean-place-object-stand",
      "id": "robotwin-plus/place-object-stand-aloha-agilex-clean",
      "title": "Place object stand",
      "native_task": "place_object_stand",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "use appropriate arm to place the object on the stand",
      "measured": "Set the {object_description} on the center of the display stand, leaving both grippers open.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_stand",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_stand.py",
      "catalog_path": "tasks/task12/catalog/40-clean-place-object-stand/task.yaml",
      "catalog_sha256": "801ccfa9f461b6dd55eca0811e1f51e37a430cdb87c0bac5fe1a6b537d44b6d2",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/40",
      "notes": [
        "Clarifies centered placement and open grippers.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/40-language-plus-place-object-stand",
      "id": "robotwin-plus/place-object-stand-aloha-agilex-language-plus",
      "title": "Place object stand",
      "native_task": "place_object_stand",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "use appropriate arm to place the object on the stand",
      "measured": "Set the {object_description} on the center of the display stand, leaving both grippers open.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction_plus/place_object_stand",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_object_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_stand.py",
      "catalog_path": "tasks/task12/catalog/40-language-plus-place-object-stand/task.yaml",
      "catalog_sha256": "5c8fe3e0a0a26d7d37575f49dcac7d1bb3497b735f58538e6ccb06d9a80ea77c",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/40",
      "notes": [
        "Clarifies centered placement and open grippers.",
        "Target descriptions are bound from the initialized scene.",
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/40-light-place-object-stand",
      "id": "robotwin-plus/place-object-stand-aloha-agilex-light",
      "title": "Place object stand",
      "native_task": "place_object_stand",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "use appropriate arm to place the object on the stand",
      "measured": "Set the {object_description} on the center of the display stand, leaving both grippers open.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_stand",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_stand.py",
      "catalog_path": "tasks/task12/catalog/40-light-place-object-stand/task.yaml",
      "catalog_sha256": "a4d2114d891ec20550ef434e1414afd65d24aeae9d0c32a41c672a8d1414ee1a",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/40",
      "notes": [
        "Clarifies centered placement and open grippers.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/40-objects-plus-place-object-stand",
      "id": "robotwin-plus/place-object-stand-aloha-agilex-objects-plus",
      "title": "Place object stand",
      "native_task": "place_object_stand",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "use appropriate arm to place the object on the stand",
      "measured": "Set the {object_description} on the center of the display stand, leaving both grippers open.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_stand",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_stand.py",
      "catalog_path": "tasks/task12/catalog/40-objects-plus-place-object-stand/task.yaml",
      "catalog_sha256": "559d61e4c10dcc03469ebdc0e2fac6090d6d3900de5cee440c3a6cbe4f1cc3ca",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/40",
      "notes": [
        "Clarifies centered placement and open grippers.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/40-robot-state-place-object-stand",
      "id": "robotwin-plus/place-object-stand-aloha-agilex-robot-state",
      "title": "Place object stand",
      "native_task": "place_object_stand",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "use appropriate arm to place the object on the stand",
      "measured": "Set the {object_description} on the center of the display stand, leaving both grippers open.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_stand",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_stand.py",
      "catalog_path": "tasks/task12/catalog/40-robot-state-place-object-stand/task.yaml",
      "catalog_sha256": "ead510adc1e0ba6546c2117c6cb26f5c878b49a2bc7b11dbdffa2856f7b64a60",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/40",
      "notes": [
        "Clarifies centered placement and open grippers.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/40-vision-noise-place-object-stand",
      "id": "robotwin-plus/place-object-stand-aloha-agilex-vision-noise",
      "title": "Place object stand",
      "native_task": "place_object_stand",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "use appropriate arm to place the object on the stand",
      "measured": "Set the {object_description} on the center of the display stand, leaving both grippers open.",
      "status": "changed",
      "bindings": {
        "object_description": "object.description"
      },
      "definition": "task_instruction/place_object_stand",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_stand.py",
      "catalog_path": "tasks/task12/catalog/40-vision-noise-place-object-stand/task.yaml",
      "catalog_sha256": "e2f22ecafcd9375403af262e154c69ecbc38f36dd3468c1ba80e76de406aef00",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/40",
      "notes": [
        "Clarifies centered placement and open grippers.",
        "Target descriptions are bound from the initialized scene."
      ]
    },
    {
      "key": "task12/41-background-plus-place-phone-stand",
      "id": "robotwin-plus/place-phone-stand-aloha-agilex-background-plus",
      "title": "Place phone stand",
      "native_task": "place_phone_stand",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "pick up the phone and put it on the phone stand",
      "measured": "place the phone on the phone stand, centered against its support, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_phone_stand",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_phone_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_phone_stand.py",
      "catalog_path": "tasks/task12/catalog/41-background-plus-place-phone-stand/task.yaml",
      "catalog_sha256": "e48a4774499168180fb41c69ce9b4cb24174965fddcabb9e2f7ec893809d2bf3",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/41",
      "notes": []
    },
    {
      "key": "task12/41-camera-place-phone-stand",
      "id": "robotwin-plus/place-phone-stand-aloha-agilex-camera",
      "title": "Place phone stand",
      "native_task": "place_phone_stand",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "pick up the phone and put it on the phone stand",
      "measured": "place the phone on the phone stand, centered against its support, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_phone_stand",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_phone_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_phone_stand.py",
      "catalog_path": "tasks/task12/catalog/41-camera-place-phone-stand/task.yaml",
      "catalog_sha256": "be74a182a28032668c4737bd91fbee9d9f8450fec5c8e32870a73e6a6fc05d22",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/41",
      "notes": []
    },
    {
      "key": "task12/41-clean-place-phone-stand",
      "id": "robotwin-plus/place-phone-stand-aloha-agilex-clean",
      "title": "Place phone stand",
      "native_task": "place_phone_stand",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "pick up the phone and put it on the phone stand",
      "measured": "place the phone on the phone stand, centered against its support, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_phone_stand",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_phone_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_phone_stand.py",
      "catalog_path": "tasks/task12/catalog/41-clean-place-phone-stand/task.yaml",
      "catalog_sha256": "08437c237be91937d66ee71aa5aa6eb1173120532d07d871cd198502d3899bbb",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/41",
      "notes": []
    },
    {
      "key": "task12/41-language-plus-place-phone-stand",
      "id": "robotwin-plus/place-phone-stand-aloha-agilex-language-plus",
      "title": "Place phone stand",
      "native_task": "place_phone_stand",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "pick up the phone and put it on the phone stand",
      "measured": "place the phone on the phone stand, centered against its support, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/place_phone_stand",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_phone_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_phone_stand.py",
      "catalog_path": "tasks/task12/catalog/41-language-plus-place-phone-stand/task.yaml",
      "catalog_sha256": "0c5d48fc44972706334c6ccfa436065a9d4f4e367928935bbaebbe2af9cf8dcb",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/41",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/41-light-place-phone-stand",
      "id": "robotwin-plus/place-phone-stand-aloha-agilex-light",
      "title": "Place phone stand",
      "native_task": "place_phone_stand",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "pick up the phone and put it on the phone stand",
      "measured": "place the phone on the phone stand, centered against its support, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_phone_stand",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_phone_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_phone_stand.py",
      "catalog_path": "tasks/task12/catalog/41-light-place-phone-stand/task.yaml",
      "catalog_sha256": "ddc7fea7437bca8b86fb3d4458f34cbab89f8d05a87d011776009474e98e8cd6",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/41",
      "notes": []
    },
    {
      "key": "task12/41-objects-plus-place-phone-stand",
      "id": "robotwin-plus/place-phone-stand-aloha-agilex-objects-plus",
      "title": "Place phone stand",
      "native_task": "place_phone_stand",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "pick up the phone and put it on the phone stand",
      "measured": "place the phone on the phone stand, centered against its support, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_phone_stand",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_phone_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_phone_stand.py",
      "catalog_path": "tasks/task12/catalog/41-objects-plus-place-phone-stand/task.yaml",
      "catalog_sha256": "25b1a114c3e2ca0ce38c597d9d57d381237ba83c0674cbdb78d6246008a3da6e",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/41",
      "notes": []
    },
    {
      "key": "task12/41-robot-state-place-phone-stand",
      "id": "robotwin-plus/place-phone-stand-aloha-agilex-robot-state",
      "title": "Place phone stand",
      "native_task": "place_phone_stand",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "pick up the phone and put it on the phone stand",
      "measured": "place the phone on the phone stand, centered against its support, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_phone_stand",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_phone_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_phone_stand.py",
      "catalog_path": "tasks/task12/catalog/41-robot-state-place-phone-stand/task.yaml",
      "catalog_sha256": "0d61617c91e42ba3f8ee07bbbb5d7efcd2038570ce57363a287ed651f4e63208",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/41",
      "notes": []
    },
    {
      "key": "task12/41-vision-noise-place-phone-stand",
      "id": "robotwin-plus/place-phone-stand-aloha-agilex-vision-noise",
      "title": "Place phone stand",
      "native_task": "place_phone_stand",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "pick up the phone and put it on the phone stand",
      "measured": "place the phone on the phone stand, centered against its support, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_phone_stand",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_phone_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_phone_stand.py",
      "catalog_path": "tasks/task12/catalog/41-vision-noise-place-phone-stand/task.yaml",
      "catalog_sha256": "73a74180fb51d7bf6150f964086f6155db45342c77e29d4b97bf58d07da8188a",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/41",
      "notes": []
    },
    {
      "key": "task12/42-background-plus-place-shoe",
      "id": "robotwin-plus/place-shoe-aloha-agilex-background-plus",
      "title": "Place shoe",
      "native_task": "place_shoe",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "use one arm to grab the shoe from the table and place it on the mat",
      "measured": "place the shoe straight in the center of the mat with its toe pointing left, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_shoe",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_shoe.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_shoe.py",
      "catalog_path": "tasks/task12/catalog/42-background-plus-place-shoe/task.yaml",
      "catalog_sha256": "071fc91be8b8d0b3b3debce05cac5a1f9c6893489ff379ab5b91c19473a4d376",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/42",
      "notes": []
    },
    {
      "key": "task12/42-camera-place-shoe",
      "id": "robotwin-plus/place-shoe-aloha-agilex-camera",
      "title": "Place shoe",
      "native_task": "place_shoe",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "use one arm to grab the shoe from the table and place it on the mat",
      "measured": "place the shoe straight in the center of the mat with its toe pointing left, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_shoe",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_shoe.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_shoe.py",
      "catalog_path": "tasks/task12/catalog/42-camera-place-shoe/task.yaml",
      "catalog_sha256": "e7bfa1a9de104d3a9ca1112ef231b277648dabc05f7c1f33201c4719062b9d46",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/42",
      "notes": []
    },
    {
      "key": "task12/42-clean-place-shoe",
      "id": "robotwin-plus/place-shoe-aloha-agilex-clean",
      "title": "Place shoe",
      "native_task": "place_shoe",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "use one arm to grab the shoe from the table and place it on the mat",
      "measured": "place the shoe straight in the center of the mat with its toe pointing left, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_shoe",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_shoe.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_shoe.py",
      "catalog_path": "tasks/task12/catalog/42-clean-place-shoe/task.yaml",
      "catalog_sha256": "ba307ae1c091d8d1a380ab48706a2f740606040abe3394d5771bbd8ae50f8b61",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/42",
      "notes": []
    },
    {
      "key": "task12/42-language-plus-place-shoe",
      "id": "robotwin-plus/place-shoe-aloha-agilex-language-plus",
      "title": "Place shoe",
      "native_task": "place_shoe",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "use one arm to grab the shoe from the table and place it on the mat",
      "measured": "place the shoe straight in the center of the mat with its toe pointing left, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/place_shoe",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_shoe.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_shoe.py",
      "catalog_path": "tasks/task12/catalog/42-language-plus-place-shoe/task.yaml",
      "catalog_sha256": "70bb67f5916f84d217262a65823534a1dafb69ee5b1534aade1e1f4551fdd820",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/42",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/42-light-place-shoe",
      "id": "robotwin-plus/place-shoe-aloha-agilex-light",
      "title": "Place shoe",
      "native_task": "place_shoe",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "use one arm to grab the shoe from the table and place it on the mat",
      "measured": "place the shoe straight in the center of the mat with its toe pointing left, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_shoe",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_shoe.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_shoe.py",
      "catalog_path": "tasks/task12/catalog/42-light-place-shoe/task.yaml",
      "catalog_sha256": "9e662500c14440ff65b4718793ed2b5ab7a62792effa062ca70d9c2a8a0ca3bb",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/42",
      "notes": []
    },
    {
      "key": "task12/42-objects-plus-place-shoe",
      "id": "robotwin-plus/place-shoe-aloha-agilex-objects-plus",
      "title": "Place shoe",
      "native_task": "place_shoe",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "use one arm to grab the shoe from the table and place it on the mat",
      "measured": "place the shoe straight in the center of the mat with its toe pointing left, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_shoe",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_shoe.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_shoe.py",
      "catalog_path": "tasks/task12/catalog/42-objects-plus-place-shoe/task.yaml",
      "catalog_sha256": "0b36e3576631681eee2d9403d552dec9b6caf1508af673ae7e96fc56f733110e",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/42",
      "notes": []
    },
    {
      "key": "task12/42-robot-state-place-shoe",
      "id": "robotwin-plus/place-shoe-aloha-agilex-robot-state",
      "title": "Place shoe",
      "native_task": "place_shoe",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "use one arm to grab the shoe from the table and place it on the mat",
      "measured": "place the shoe straight in the center of the mat with its toe pointing left, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_shoe",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_shoe.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_shoe.py",
      "catalog_path": "tasks/task12/catalog/42-robot-state-place-shoe/task.yaml",
      "catalog_sha256": "c1c9d288dff26ff709e1e5469d28888bff12dd12d5e3ad5b3519ac82e88a0eea",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/42",
      "notes": []
    },
    {
      "key": "task12/42-vision-noise-place-shoe",
      "id": "robotwin-plus/place-shoe-aloha-agilex-vision-noise",
      "title": "Place shoe",
      "native_task": "place_shoe",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "use one arm to grab the shoe from the table and place it on the mat",
      "measured": "place the shoe straight in the center of the mat with its toe pointing left, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/place_shoe",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_shoe.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_shoe.py",
      "catalog_path": "tasks/task12/catalog/42-vision-noise-place-shoe/task.yaml",
      "catalog_sha256": "6daa6b8f30fcff9b98e47ca41281ff7ce6c905df108d099c7c66f52fa2ed5883",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/42",
      "notes": []
    },
    {
      "key": "task12/43-background-plus-press-stapler",
      "id": "robotwin-plus/press-stapler-aloha-agilex-background-plus",
      "title": "Press stapler",
      "native_task": "press_stapler",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "Use one arm to press the stapler.",
      "measured": "Press down on the stapler's top with one gripper.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/press_stapler",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/press_stapler.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/press_stapler.py",
      "catalog_path": "tasks/task12/catalog/43-background-plus-press-stapler/task.yaml",
      "catalog_sha256": "1bd7011c47399829e7a5212c51e6bcd7d5ca7932a0417d7493aabd112493c3af",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/43",
      "notes": [
        "Keeps the requested action focused on pressing the stapler top."
      ]
    },
    {
      "key": "task12/43-camera-press-stapler",
      "id": "robotwin-plus/press-stapler-aloha-agilex-camera",
      "title": "Press stapler",
      "native_task": "press_stapler",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "Use one arm to press the stapler.",
      "measured": "Press down on the stapler's top with one gripper.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/press_stapler",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/press_stapler.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/press_stapler.py",
      "catalog_path": "tasks/task12/catalog/43-camera-press-stapler/task.yaml",
      "catalog_sha256": "564ed6c3f66bc21b6a9a0a57ba5d9792b93aff64e69d22d4633e13fd79648c21",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/43",
      "notes": [
        "Keeps the requested action focused on pressing the stapler top."
      ]
    },
    {
      "key": "task12/43-clean-press-stapler",
      "id": "robotwin-plus/press-stapler-aloha-agilex-clean",
      "title": "Press stapler",
      "native_task": "press_stapler",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "Use one arm to press the stapler.",
      "measured": "Press down on the stapler's top with one gripper.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/press_stapler",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/press_stapler.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/press_stapler.py",
      "catalog_path": "tasks/task12/catalog/43-clean-press-stapler/task.yaml",
      "catalog_sha256": "8fc9ce95ed419513f6828c8068970aeef621a655ae6bac4fe654400743c6c07a",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/43",
      "notes": [
        "Keeps the requested action focused on pressing the stapler top."
      ]
    },
    {
      "key": "task12/43-language-plus-press-stapler",
      "id": "robotwin-plus/press-stapler-aloha-agilex-language-plus",
      "title": "Press stapler",
      "native_task": "press_stapler",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "Use one arm to press the stapler",
      "measured": "Press down on the stapler's top with one gripper.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/press_stapler",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/press_stapler.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/press_stapler.py",
      "catalog_path": "tasks/task12/catalog/43-language-plus-press-stapler/task.yaml",
      "catalog_sha256": "8b8833249b848ccc96df588e7e0f9e995749214aa96df0e1365f825565d15fb1",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/43",
      "notes": [
        "Keeps the requested action focused on pressing the stapler top.",
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/43-light-press-stapler",
      "id": "robotwin-plus/press-stapler-aloha-agilex-light",
      "title": "Press stapler",
      "native_task": "press_stapler",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "Use one arm to press the stapler.",
      "measured": "Press down on the stapler's top with one gripper.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/press_stapler",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/press_stapler.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/press_stapler.py",
      "catalog_path": "tasks/task12/catalog/43-light-press-stapler/task.yaml",
      "catalog_sha256": "f629014e8ae9a72318c21018a8e223257b98b9de3b391d7747ccb50eddacbd61",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/43",
      "notes": [
        "Keeps the requested action focused on pressing the stapler top."
      ]
    },
    {
      "key": "task12/43-objects-plus-press-stapler",
      "id": "robotwin-plus/press-stapler-aloha-agilex-objects-plus",
      "title": "Press stapler",
      "native_task": "press_stapler",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "Use one arm to press the stapler.",
      "measured": "Press down on the stapler's top with one gripper.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/press_stapler",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/press_stapler.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/press_stapler.py",
      "catalog_path": "tasks/task12/catalog/43-objects-plus-press-stapler/task.yaml",
      "catalog_sha256": "df5aaa13f86435f17eacc55f7e82fe8d7ba368646a45b8758c8f631e32418be6",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/43",
      "notes": [
        "Keeps the requested action focused on pressing the stapler top."
      ]
    },
    {
      "key": "task12/43-robot-state-press-stapler",
      "id": "robotwin-plus/press-stapler-aloha-agilex-robot-state",
      "title": "Press stapler",
      "native_task": "press_stapler",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "Use one arm to press the stapler.",
      "measured": "Press down on the stapler's top with one gripper.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/press_stapler",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/press_stapler.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/press_stapler.py",
      "catalog_path": "tasks/task12/catalog/43-robot-state-press-stapler/task.yaml",
      "catalog_sha256": "f75f90df061815badddba51855e8ed32326be3c7db5279e9e769eefb9286ee6d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/43",
      "notes": [
        "Keeps the requested action focused on pressing the stapler top."
      ]
    },
    {
      "key": "task12/43-vision-noise-press-stapler",
      "id": "robotwin-plus/press-stapler-aloha-agilex-vision-noise",
      "title": "Press stapler",
      "native_task": "press_stapler",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "Use one arm to press the stapler.",
      "measured": "Press down on the stapler's top with one gripper.",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/press_stapler",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/press_stapler.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/press_stapler.py",
      "catalog_path": "tasks/task12/catalog/43-vision-noise-press-stapler/task.yaml",
      "catalog_sha256": "606da602bea73103997d63bbac70fb02b7d1445980b1330cd2768eef49ee4a30",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/43",
      "notes": [
        "Keeps the requested action focused on pressing the stapler top."
      ]
    },
    {
      "key": "task12/44-background-plus-rotate-qrcode",
      "id": "robotwin-plus/rotate-qrcode-aloha-agilex-background-plus",
      "title": "Rotate qrcode",
      "native_task": "rotate_qrcode",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "Use arm to catch the qrcode board on the table, pick it up and rotate to let the qrcode face towards you",
      "measured": "Use arm to catch the qrcode board on the table, pick it up, rotate to let the qrcode face towards you, then put it back on the table and release it",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/rotate_qrcode",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/rotate_qrcode.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/rotate_qrcode.py",
      "catalog_path": "tasks/task12/catalog/44-background-plus-rotate-qrcode/task.yaml",
      "catalog_sha256": "ed9d6ff69037e4677fbf7a2c81f09d3109ea9d946d87ed617ff0e8489f57be41",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/44",
      "notes": []
    },
    {
      "key": "task12/44-camera-rotate-qrcode",
      "id": "robotwin-plus/rotate-qrcode-aloha-agilex-camera",
      "title": "Rotate qrcode",
      "native_task": "rotate_qrcode",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "Use arm to catch the qrcode board on the table, pick it up and rotate to let the qrcode face towards you",
      "measured": "Use arm to catch the qrcode board on the table, pick it up, rotate to let the qrcode face towards you, then put it back on the table and release it",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/rotate_qrcode",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/rotate_qrcode.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/rotate_qrcode.py",
      "catalog_path": "tasks/task12/catalog/44-camera-rotate-qrcode/task.yaml",
      "catalog_sha256": "d0d29d1399df20ac54d726da4a6d9c0ec05416296e124ea2f2f55cba60023f8a",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/44",
      "notes": []
    },
    {
      "key": "task12/44-clean-rotate-qrcode",
      "id": "robotwin-plus/rotate-qrcode-aloha-agilex-clean",
      "title": "Rotate qrcode",
      "native_task": "rotate_qrcode",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "Use arm to catch the qrcode board on the table, pick it up and rotate to let the qrcode face towards you",
      "measured": "Use arm to catch the qrcode board on the table, pick it up, rotate to let the qrcode face towards you, then put it back on the table and release it",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/rotate_qrcode",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/rotate_qrcode.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/rotate_qrcode.py",
      "catalog_path": "tasks/task12/catalog/44-clean-rotate-qrcode/task.yaml",
      "catalog_sha256": "6f6b1020d9829a9e96fcda8c7a547154266dd607affdcad77c5301c1f6ddb725",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/44",
      "notes": []
    },
    {
      "key": "task12/44-language-plus-rotate-qrcode",
      "id": "robotwin-plus/rotate-qrcode-aloha-agilex-language-plus",
      "title": "Rotate qrcode",
      "native_task": "rotate_qrcode",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "Use arm to catch the qrcode board on the table, pick it up and rotate to let the qrcode face towards you",
      "measured": "Use arm to catch the qrcode board on the table, pick it up, rotate to let the qrcode face towards you, then put it back on the table and release it",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/rotate_qrcode",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/rotate_qrcode.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/rotate_qrcode.py",
      "catalog_path": "tasks/task12/catalog/44-language-plus-rotate-qrcode/task.yaml",
      "catalog_sha256": "7d889a8af333ded12d13aa983328935eff1b1e1ef3337e024f58375ed6a46603",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/44",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/44-light-rotate-qrcode",
      "id": "robotwin-plus/rotate-qrcode-aloha-agilex-light",
      "title": "Rotate qrcode",
      "native_task": "rotate_qrcode",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "Use arm to catch the qrcode board on the table, pick it up and rotate to let the qrcode face towards you",
      "measured": "Use arm to catch the qrcode board on the table, pick it up, rotate to let the qrcode face towards you, then put it back on the table and release it",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/rotate_qrcode",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/rotate_qrcode.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/rotate_qrcode.py",
      "catalog_path": "tasks/task12/catalog/44-light-rotate-qrcode/task.yaml",
      "catalog_sha256": "626f52f69ea80a1e930f8ec49c34d2804d3d869d1632eab269ace7a38f2690c9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/44",
      "notes": []
    },
    {
      "key": "task12/44-objects-plus-rotate-qrcode",
      "id": "robotwin-plus/rotate-qrcode-aloha-agilex-objects-plus",
      "title": "Rotate qrcode",
      "native_task": "rotate_qrcode",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "Use arm to catch the qrcode board on the table, pick it up and rotate to let the qrcode face towards you",
      "measured": "Use arm to catch the qrcode board on the table, pick it up, rotate to let the qrcode face towards you, then put it back on the table and release it",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/rotate_qrcode",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/rotate_qrcode.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/rotate_qrcode.py",
      "catalog_path": "tasks/task12/catalog/44-objects-plus-rotate-qrcode/task.yaml",
      "catalog_sha256": "deccc4d014b3d8553ea0a9be8f3136980707eb139d9f3ecc24c87f6f98d58744",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/44",
      "notes": []
    },
    {
      "key": "task12/44-robot-state-rotate-qrcode",
      "id": "robotwin-plus/rotate-qrcode-aloha-agilex-robot-state",
      "title": "Rotate qrcode",
      "native_task": "rotate_qrcode",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "Use arm to catch the qrcode board on the table, pick it up and rotate to let the qrcode face towards you",
      "measured": "Use arm to catch the qrcode board on the table, pick it up, rotate to let the qrcode face towards you, then put it back on the table and release it",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/rotate_qrcode",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/rotate_qrcode.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/rotate_qrcode.py",
      "catalog_path": "tasks/task12/catalog/44-robot-state-rotate-qrcode/task.yaml",
      "catalog_sha256": "ec7e1f1ed570ff125b5affbc9f8446de95123c89bb5adfd3ab503a652290c9d0",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/44",
      "notes": []
    },
    {
      "key": "task12/44-vision-noise-rotate-qrcode",
      "id": "robotwin-plus/rotate-qrcode-aloha-agilex-vision-noise",
      "title": "Rotate qrcode",
      "native_task": "rotate_qrcode",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "Use arm to catch the qrcode board on the table, pick it up and rotate to let the qrcode face towards you",
      "measured": "Use arm to catch the qrcode board on the table, pick it up, rotate to let the qrcode face towards you, then put it back on the table and release it",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/rotate_qrcode",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/rotate_qrcode.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/rotate_qrcode.py",
      "catalog_path": "tasks/task12/catalog/44-vision-noise-rotate-qrcode/task.yaml",
      "catalog_sha256": "4104e3a72df75c798e22f1b40da5ab21fa93df6c9b0ceeaf2f068d1b82056b2d",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/44",
      "notes": []
    },
    {
      "key": "task12/45-background-plus-shake-bottle",
      "id": "robotwin-plus/shake-bottle-aloha-agilex-background-plus",
      "title": "Shake bottle",
      "native_task": "shake_bottle",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "Shake the bottle with proper arm",
      "measured": "Shake the bottle with proper arm while holding it well clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/shake_bottle",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/shake_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle.py",
      "catalog_path": "tasks/task12/catalog/45-background-plus-shake-bottle/task.yaml",
      "catalog_sha256": "fc2eebf9e7b039dd1685418e5b702db050ecd12b04b49958178a707115cd6fe5",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/45",
      "notes": [
        "The native predicate does not fully check the requested shaking motion."
      ]
    },
    {
      "key": "task12/45-camera-shake-bottle",
      "id": "robotwin-plus/shake-bottle-aloha-agilex-camera",
      "title": "Shake bottle",
      "native_task": "shake_bottle",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "Shake the bottle with proper arm",
      "measured": "Shake the bottle with proper arm while holding it well clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/shake_bottle",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/shake_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle.py",
      "catalog_path": "tasks/task12/catalog/45-camera-shake-bottle/task.yaml",
      "catalog_sha256": "24cb7a87cd9c61259de47030e2fab04876d7e94906641a0a12f4ea227188d06c",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/45",
      "notes": [
        "The native predicate does not fully check the requested shaking motion."
      ]
    },
    {
      "key": "task12/45-clean-shake-bottle",
      "id": "robotwin-plus/shake-bottle-aloha-agilex-clean",
      "title": "Shake bottle",
      "native_task": "shake_bottle",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "Shake the bottle with proper arm",
      "measured": "Shake the bottle with proper arm while holding it well clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/shake_bottle",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/shake_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle.py",
      "catalog_path": "tasks/task12/catalog/45-clean-shake-bottle/task.yaml",
      "catalog_sha256": "2cca42045ce85fbdc0c3228999293b619cbc196b2bdbf3fdbc12a092cb0c578b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/45",
      "notes": [
        "The native predicate does not fully check the requested shaking motion."
      ]
    },
    {
      "key": "task12/45-language-plus-shake-bottle",
      "id": "robotwin-plus/shake-bottle-aloha-agilex-language-plus",
      "title": "Shake bottle",
      "native_task": "shake_bottle",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "Shake the bottle with proper arm",
      "measured": "Shake the bottle with proper arm while holding it well clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/shake_bottle",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/shake_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle.py",
      "catalog_path": "tasks/task12/catalog/45-language-plus-shake-bottle/task.yaml",
      "catalog_sha256": "24ff519fec6ffec6506b88bfdeeb1b66ac6287d846d9b413ce6bdf8b13da08ca",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/45",
      "notes": [
        "The native predicate does not fully check the requested shaking motion.",
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/45-light-shake-bottle",
      "id": "robotwin-plus/shake-bottle-aloha-agilex-light",
      "title": "Shake bottle",
      "native_task": "shake_bottle",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "Shake the bottle with proper arm",
      "measured": "Shake the bottle with proper arm while holding it well clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/shake_bottle",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/shake_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle.py",
      "catalog_path": "tasks/task12/catalog/45-light-shake-bottle/task.yaml",
      "catalog_sha256": "0e9d059ee50e6c4c28f33a5a162463bdea6cbc4a382f4e888ddacc6cf627ddfb",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/45",
      "notes": [
        "The native predicate does not fully check the requested shaking motion."
      ]
    },
    {
      "key": "task12/45-objects-plus-shake-bottle",
      "id": "robotwin-plus/shake-bottle-aloha-agilex-objects-plus",
      "title": "Shake bottle",
      "native_task": "shake_bottle",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "Shake the bottle with proper arm",
      "measured": "Shake the bottle with proper arm while holding it well clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/shake_bottle",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/shake_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle.py",
      "catalog_path": "tasks/task12/catalog/45-objects-plus-shake-bottle/task.yaml",
      "catalog_sha256": "6bd2f6fdd716f313cec69e0e040ab5c9188732115cd7ab7ed6daa0e598329b95",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/45",
      "notes": [
        "The native predicate does not fully check the requested shaking motion."
      ]
    },
    {
      "key": "task12/45-robot-state-shake-bottle",
      "id": "robotwin-plus/shake-bottle-aloha-agilex-robot-state",
      "title": "Shake bottle",
      "native_task": "shake_bottle",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "Shake the bottle with proper arm",
      "measured": "Shake the bottle with proper arm while holding it well clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/shake_bottle",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/shake_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle.py",
      "catalog_path": "tasks/task12/catalog/45-robot-state-shake-bottle/task.yaml",
      "catalog_sha256": "4a4c1ddb5d6ad56276dda6c0df00e1f0952436e87f0d6b56a95a78a24679e7f7",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/45",
      "notes": [
        "The native predicate does not fully check the requested shaking motion."
      ]
    },
    {
      "key": "task12/45-vision-noise-shake-bottle",
      "id": "robotwin-plus/shake-bottle-aloha-agilex-vision-noise",
      "title": "Shake bottle",
      "native_task": "shake_bottle",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "Shake the bottle with proper arm",
      "measured": "Shake the bottle with proper arm while holding it well clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/shake_bottle",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/shake_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle.py",
      "catalog_path": "tasks/task12/catalog/45-vision-noise-shake-bottle/task.yaml",
      "catalog_sha256": "95b8c5dd4de3915dfd0d0e0272fec51cd8910376c3a602efca9a2cb63405d48a",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/45",
      "notes": [
        "The native predicate does not fully check the requested shaking motion."
      ]
    },
    {
      "key": "task12/46-background-plus-shake-bottle-horizontally",
      "id": "robotwin-plus/shake-bottle-horizontally-aloha-agilex-background-plus",
      "title": "Shake bottle horizontally",
      "native_task": "shake_bottle_horizontally",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "Shake the bottle horizontally with proper arm",
      "measured": "Shake the bottle with proper arm horizontally while holding it well clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/shake_bottle_horizontally",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/shake_bottle_horizontally.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle_horizontally.py",
      "catalog_path": "tasks/task12/catalog/46-background-plus-shake-bottle-horizontally/task.yaml",
      "catalog_sha256": "dd3ae1d8658af05efebd533594e01d96113426fd4802e7c59a39447da7d07f7b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/46",
      "notes": [
        "The native predicate does not fully check the requested shaking motion."
      ]
    },
    {
      "key": "task12/46-camera-shake-bottle-horizontally",
      "id": "robotwin-plus/shake-bottle-horizontally-aloha-agilex-camera",
      "title": "Shake bottle horizontally",
      "native_task": "shake_bottle_horizontally",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "Shake the bottle horizontally with proper arm",
      "measured": "Shake the bottle with proper arm horizontally while holding it well clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/shake_bottle_horizontally",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/shake_bottle_horizontally.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle_horizontally.py",
      "catalog_path": "tasks/task12/catalog/46-camera-shake-bottle-horizontally/task.yaml",
      "catalog_sha256": "54f41b702f65a0ca9e81c9faa14ae971286d44876342ce3d5a7196a3623c65e0",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/46",
      "notes": [
        "The native predicate does not fully check the requested shaking motion."
      ]
    },
    {
      "key": "task12/46-clean-shake-bottle-horizontally",
      "id": "robotwin-plus/shake-bottle-horizontally-aloha-agilex-clean",
      "title": "Shake bottle horizontally",
      "native_task": "shake_bottle_horizontally",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "Shake the bottle horizontally with proper arm",
      "measured": "Shake the bottle with proper arm horizontally while holding it well clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/shake_bottle_horizontally",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/shake_bottle_horizontally.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle_horizontally.py",
      "catalog_path": "tasks/task12/catalog/46-clean-shake-bottle-horizontally/task.yaml",
      "catalog_sha256": "a0ffa58daeab72e5879d5c878314503354c184575e971539f8ed94abc81d3591",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/46",
      "notes": [
        "The native predicate does not fully check the requested shaking motion."
      ]
    },
    {
      "key": "task12/46-language-plus-shake-bottle-horizontally",
      "id": "robotwin-plus/shake-bottle-horizontally-aloha-agilex-language-plus",
      "title": "Shake bottle horizontally",
      "native_task": "shake_bottle_horizontally",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "Shake the bottle horizontally with proper arm",
      "measured": "Shake the bottle with proper arm horizontally while holding it well clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/shake_bottle_horizontally",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/shake_bottle_horizontally.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle_horizontally.py",
      "catalog_path": "tasks/task12/catalog/46-language-plus-shake-bottle-horizontally/task.yaml",
      "catalog_sha256": "df020d8f40bbc597b960a524c07e92aa5f755cbff59352e446d6af30ba80984b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/46",
      "notes": [
        "The native predicate does not fully check the requested shaking motion.",
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/46-light-shake-bottle-horizontally",
      "id": "robotwin-plus/shake-bottle-horizontally-aloha-agilex-light",
      "title": "Shake bottle horizontally",
      "native_task": "shake_bottle_horizontally",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "Shake the bottle horizontally with proper arm",
      "measured": "Shake the bottle with proper arm horizontally while holding it well clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/shake_bottle_horizontally",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/shake_bottle_horizontally.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle_horizontally.py",
      "catalog_path": "tasks/task12/catalog/46-light-shake-bottle-horizontally/task.yaml",
      "catalog_sha256": "308a5119829bbfc399f86fbde481bac63f5df3a59bcc38edc812a1f902c33f4c",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/46",
      "notes": [
        "The native predicate does not fully check the requested shaking motion."
      ]
    },
    {
      "key": "task12/46-objects-plus-shake-bottle-horizontally",
      "id": "robotwin-plus/shake-bottle-horizontally-aloha-agilex-objects-plus",
      "title": "Shake bottle horizontally",
      "native_task": "shake_bottle_horizontally",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "Shake the bottle horizontally with proper arm",
      "measured": "Shake the bottle with proper arm horizontally while holding it well clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/shake_bottle_horizontally",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/shake_bottle_horizontally.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle_horizontally.py",
      "catalog_path": "tasks/task12/catalog/46-objects-plus-shake-bottle-horizontally/task.yaml",
      "catalog_sha256": "cacc067db1b7713c12a33188f2b4a63f186df3596eab089e6053c7620525b929",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/46",
      "notes": [
        "The native predicate does not fully check the requested shaking motion."
      ]
    },
    {
      "key": "task12/46-robot-state-shake-bottle-horizontally",
      "id": "robotwin-plus/shake-bottle-horizontally-aloha-agilex-robot-state",
      "title": "Shake bottle horizontally",
      "native_task": "shake_bottle_horizontally",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "Shake the bottle horizontally with proper arm",
      "measured": "Shake the bottle with proper arm horizontally while holding it well clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/shake_bottle_horizontally",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/shake_bottle_horizontally.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle_horizontally.py",
      "catalog_path": "tasks/task12/catalog/46-robot-state-shake-bottle-horizontally/task.yaml",
      "catalog_sha256": "7a3bc67c44dcac4ebc60b624634ae62ff58007d530e223d43a221192b620ba28",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/46",
      "notes": [
        "The native predicate does not fully check the requested shaking motion."
      ]
    },
    {
      "key": "task12/46-vision-noise-shake-bottle-horizontally",
      "id": "robotwin-plus/shake-bottle-horizontally-aloha-agilex-vision-noise",
      "title": "Shake bottle horizontally",
      "native_task": "shake_bottle_horizontally",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "Shake the bottle horizontally with proper arm",
      "measured": "Shake the bottle with proper arm horizontally while holding it well clear of the table",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/shake_bottle_horizontally",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/shake_bottle_horizontally.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle_horizontally.py",
      "catalog_path": "tasks/task12/catalog/46-vision-noise-shake-bottle-horizontally/task.yaml",
      "catalog_sha256": "7d495c5fcafda415cf206f0880885ee8a299365af3d193dcfc84f1a23d87b62b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/46",
      "notes": [
        "The native predicate does not fully check the requested shaking motion."
      ]
    },
    {
      "key": "task12/47-background-plus-stack-blocks-two",
      "id": "robotwin-plus/stack-blocks-two-aloha-agilex-background-plus",
      "title": "Stack blocks two",
      "native_task": "stack_blocks_two",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "there are two blocks on the table, the color of the blocks is <red, green>, <move the blocks to the center of the table>, and <stack the geen block on the red block>",
      "measured": "move the red and green blocks to the center of the table and stack the green block centrally on the red block, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_blocks_two",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_blocks_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_two.py",
      "catalog_path": "tasks/task12/catalog/47-background-plus-stack-blocks-two/task.yaml",
      "catalog_sha256": "04c9070d2e71f303d9af9c369fc848159747fdaeed565f77c3a535b3aa02d5b9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/47",
      "notes": []
    },
    {
      "key": "task12/47-camera-stack-blocks-two",
      "id": "robotwin-plus/stack-blocks-two-aloha-agilex-camera",
      "title": "Stack blocks two",
      "native_task": "stack_blocks_two",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "there are two blocks on the table, the color of the blocks is <red, green>, <move the blocks to the center of the table>, and <stack the geen block on the red block>",
      "measured": "move the red and green blocks to the center of the table and stack the green block centrally on the red block, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_blocks_two",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_blocks_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_two.py",
      "catalog_path": "tasks/task12/catalog/47-camera-stack-blocks-two/task.yaml",
      "catalog_sha256": "9ff2fd3e9a79bcde8970283f7b0a8b4bb1857e1dad3780c2f315710bff7cf37f",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/47",
      "notes": []
    },
    {
      "key": "task12/47-clean-stack-blocks-two",
      "id": "robotwin-plus/stack-blocks-two-aloha-agilex-clean",
      "title": "Stack blocks two",
      "native_task": "stack_blocks_two",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "there are two blocks on the table, the color of the blocks is <red, green>, <move the blocks to the center of the table>, and <stack the geen block on the red block>",
      "measured": "move the red and green blocks to the center of the table and stack the green block centrally on the red block, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_blocks_two",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_blocks_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_two.py",
      "catalog_path": "tasks/task12/catalog/47-clean-stack-blocks-two/task.yaml",
      "catalog_sha256": "10a04136b5e8e24dc37db937ba0f20376365eff0dd13f62703d88adab01a83ab",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/47",
      "notes": []
    },
    {
      "key": "task12/47-language-plus-stack-blocks-two",
      "id": "robotwin-plus/stack-blocks-two-aloha-agilex-language-plus",
      "title": "Stack blocks two",
      "native_task": "stack_blocks_two",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "there are two blocks on the table, the color of the blocks is <red, green>, <move the blocks to the center of the table>, and <stack the geen block on the red block>",
      "measured": "move the red and green blocks to the center of the table and stack the green block centrally on the red block, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/stack_blocks_two",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/stack_blocks_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_two.py",
      "catalog_path": "tasks/task12/catalog/47-language-plus-stack-blocks-two/task.yaml",
      "catalog_sha256": "f7efa597a4ab77f930bbd96dd98f5f8e3e1d9a4240918e7bbe98775f97b550cd",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/47",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/47-light-stack-blocks-two",
      "id": "robotwin-plus/stack-blocks-two-aloha-agilex-light",
      "title": "Stack blocks two",
      "native_task": "stack_blocks_two",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "there are two blocks on the table, the color of the blocks is <red, green>, <move the blocks to the center of the table>, and <stack the geen block on the red block>",
      "measured": "move the red and green blocks to the center of the table and stack the green block centrally on the red block, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_blocks_two",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_blocks_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_two.py",
      "catalog_path": "tasks/task12/catalog/47-light-stack-blocks-two/task.yaml",
      "catalog_sha256": "5fd5a9502a9ce5476cd9722b7dfddc8a95b2d0e59ebe16ef278cf857d46ea1a9",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/47",
      "notes": []
    },
    {
      "key": "task12/47-objects-plus-stack-blocks-two",
      "id": "robotwin-plus/stack-blocks-two-aloha-agilex-objects-plus",
      "title": "Stack blocks two",
      "native_task": "stack_blocks_two",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "there are two blocks on the table, the color of the blocks is <red, green>, <move the blocks to the center of the table>, and <stack the geen block on the red block>",
      "measured": "move the red and green blocks to the center of the table and stack the green block centrally on the red block, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_blocks_two",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_blocks_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_two.py",
      "catalog_path": "tasks/task12/catalog/47-objects-plus-stack-blocks-two/task.yaml",
      "catalog_sha256": "52f2a5c6a50e06d5c0d12b91f58bfa5e567dd4c304a29d4467ee89094a88ae68",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/47",
      "notes": []
    },
    {
      "key": "task12/47-robot-state-stack-blocks-two",
      "id": "robotwin-plus/stack-blocks-two-aloha-agilex-robot-state",
      "title": "Stack blocks two",
      "native_task": "stack_blocks_two",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "there are two blocks on the table, the color of the blocks is <red, green>, <move the blocks to the center of the table>, and <stack the geen block on the red block>",
      "measured": "move the red and green blocks to the center of the table and stack the green block centrally on the red block, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_blocks_two",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_blocks_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_two.py",
      "catalog_path": "tasks/task12/catalog/47-robot-state-stack-blocks-two/task.yaml",
      "catalog_sha256": "b561e1dfdf106662049c639b61ff5082fd977a14bf587c8aa4299a72545973a4",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/47",
      "notes": []
    },
    {
      "key": "task12/47-vision-noise-stack-blocks-two",
      "id": "robotwin-plus/stack-blocks-two-aloha-agilex-vision-noise",
      "title": "Stack blocks two",
      "native_task": "stack_blocks_two",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "there are two blocks on the table, the color of the blocks is <red, green>, <move the blocks to the center of the table>, and <stack the geen block on the red block>",
      "measured": "move the red and green blocks to the center of the table and stack the green block centrally on the red block, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_blocks_two",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_blocks_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_two.py",
      "catalog_path": "tasks/task12/catalog/47-vision-noise-stack-blocks-two/task.yaml",
      "catalog_sha256": "1ad97ad8cf186984d0fede73df45112ea677b9568ca44d69392dd09453a58a82",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/47",
      "notes": []
    },
    {
      "key": "task12/48-background-plus-stack-bowls-two",
      "id": "robotwin-plus/stack-bowls-two-aloha-agilex-background-plus",
      "title": "Stack bowls two",
      "native_task": "stack_bowls_two",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "stack the two bowls on top of each other",
      "measured": "nest the two bowls on the table, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_bowls_two",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_bowls_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_two.py",
      "catalog_path": "tasks/task12/catalog/48-background-plus-stack-bowls-two/task.yaml",
      "catalog_sha256": "fe4298898f1a3f306293358cfc847f24872a464c5113f07e58afec49ad66538e",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/48",
      "notes": []
    },
    {
      "key": "task12/48-camera-stack-bowls-two",
      "id": "robotwin-plus/stack-bowls-two-aloha-agilex-camera",
      "title": "Stack bowls two",
      "native_task": "stack_bowls_two",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "stack the two bowls on top of each other",
      "measured": "nest the two bowls on the table, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_bowls_two",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_bowls_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_two.py",
      "catalog_path": "tasks/task12/catalog/48-camera-stack-bowls-two/task.yaml",
      "catalog_sha256": "3cd934f0fd3a4b26a75d4666936eaff0540c9314f02b68e878010b51f1ec09f1",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/48",
      "notes": []
    },
    {
      "key": "task12/48-clean-stack-bowls-two",
      "id": "robotwin-plus/stack-bowls-two-aloha-agilex-clean",
      "title": "Stack bowls two",
      "native_task": "stack_bowls_two",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "stack the two bowls on top of each other",
      "measured": "nest the two bowls on the table, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_bowls_two",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_bowls_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_two.py",
      "catalog_path": "tasks/task12/catalog/48-clean-stack-bowls-two/task.yaml",
      "catalog_sha256": "26dd7910d42f4e7f5a20c546fd8bbc345350a1adc510160df77ce51cd40c016b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/48",
      "notes": []
    },
    {
      "key": "task12/48-language-plus-stack-bowls-two",
      "id": "robotwin-plus/stack-bowls-two-aloha-agilex-language-plus",
      "title": "Stack bowls two",
      "native_task": "stack_bowls_two",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "stack the two bowls on top of each other",
      "measured": "nest the two bowls on the table, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/stack_bowls_two",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/stack_bowls_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_two.py",
      "catalog_path": "tasks/task12/catalog/48-language-plus-stack-bowls-two/task.yaml",
      "catalog_sha256": "557355343aebe6fc9e863f6ec11a465345beb41cc7177e8d1e5438325cb1e0dd",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/48",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/48-light-stack-bowls-two",
      "id": "robotwin-plus/stack-bowls-two-aloha-agilex-light",
      "title": "Stack bowls two",
      "native_task": "stack_bowls_two",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "stack the two bowls on top of each other",
      "measured": "nest the two bowls on the table, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_bowls_two",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_bowls_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_two.py",
      "catalog_path": "tasks/task12/catalog/48-light-stack-bowls-two/task.yaml",
      "catalog_sha256": "934abbe434635ae102eb672826bab2250f4622ae2aeae235188d010e12d2d721",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/48",
      "notes": []
    },
    {
      "key": "task12/48-objects-plus-stack-bowls-two",
      "id": "robotwin-plus/stack-bowls-two-aloha-agilex-objects-plus",
      "title": "Stack bowls two",
      "native_task": "stack_bowls_two",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "stack the two bowls on top of each other",
      "measured": "nest the two bowls on the table, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_bowls_two",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_bowls_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_two.py",
      "catalog_path": "tasks/task12/catalog/48-objects-plus-stack-bowls-two/task.yaml",
      "catalog_sha256": "972afd71f4013c21569483cf4888772c3b9081723a837ed12d70e60e1d101534",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/48",
      "notes": []
    },
    {
      "key": "task12/48-robot-state-stack-bowls-two",
      "id": "robotwin-plus/stack-bowls-two-aloha-agilex-robot-state",
      "title": "Stack bowls two",
      "native_task": "stack_bowls_two",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "stack the two bowls on top of each other",
      "measured": "nest the two bowls on the table, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_bowls_two",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_bowls_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_two.py",
      "catalog_path": "tasks/task12/catalog/48-robot-state-stack-bowls-two/task.yaml",
      "catalog_sha256": "e9060c9f7f39ed51935a3dbf935a7307ca59cda82dda6af4231432077b6caa18",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/48",
      "notes": []
    },
    {
      "key": "task12/48-vision-noise-stack-bowls-two",
      "id": "robotwin-plus/stack-bowls-two-aloha-agilex-vision-noise",
      "title": "Stack bowls two",
      "native_task": "stack_bowls_two",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "stack the two bowls on top of each other",
      "measured": "nest the two bowls on the table, leaving both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stack_bowls_two",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_bowls_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_two.py",
      "catalog_path": "tasks/task12/catalog/48-vision-noise-stack-bowls-two/task.yaml",
      "catalog_sha256": "99ee943aafd4f9cd7a242115aa446315b5fc2d0176e33a0f713a7407c5f6675b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/48",
      "notes": []
    },
    {
      "key": "task12/49-background-plus-stamp-seal",
      "id": "robotwin-plus/stamp-seal-aloha-agilex-background-plus",
      "title": "Stamp seal",
      "native_task": "stamp_seal",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "Grab the stamp and stamp onto the specific color mat",
      "measured": "Grab the stamp and stamp onto the center of the colored mat, leaving the stamp there and both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stamp_seal",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stamp_seal.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stamp_seal.py",
      "catalog_path": "tasks/task12/catalog/49-background-plus-stamp-seal/task.yaml",
      "catalog_sha256": "0ab6fd0498286e9a7bb543c2c57f3198131bc7e173d34d5abae46957a199c3f3",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/49",
      "notes": [
        "The native predicate does not fully check the intermediate stamping action."
      ]
    },
    {
      "key": "task12/49-camera-stamp-seal",
      "id": "robotwin-plus/stamp-seal-aloha-agilex-camera",
      "title": "Stamp seal",
      "native_task": "stamp_seal",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "Grab the stamp and stamp onto the specific color mat",
      "measured": "Grab the stamp and stamp onto the center of the colored mat, leaving the stamp there and both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stamp_seal",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stamp_seal.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stamp_seal.py",
      "catalog_path": "tasks/task12/catalog/49-camera-stamp-seal/task.yaml",
      "catalog_sha256": "e5f51a1b2110293ee783143dac513b29660e1a0a9a61a4dffe7f447c2319f70f",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/49",
      "notes": [
        "The native predicate does not fully check the intermediate stamping action."
      ]
    },
    {
      "key": "task12/49-clean-stamp-seal",
      "id": "robotwin-plus/stamp-seal-aloha-agilex-clean",
      "title": "Stamp seal",
      "native_task": "stamp_seal",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "Grab the stamp and stamp onto the specific color mat",
      "measured": "Grab the stamp and stamp onto the center of the colored mat, leaving the stamp there and both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stamp_seal",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stamp_seal.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stamp_seal.py",
      "catalog_path": "tasks/task12/catalog/49-clean-stamp-seal/task.yaml",
      "catalog_sha256": "b511d19ef4c8e1e81744038e5378b20be7d59a943d56b897e06bc3fa03a2635b",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/49",
      "notes": [
        "The native predicate does not fully check the intermediate stamping action."
      ]
    },
    {
      "key": "task12/49-language-plus-stamp-seal",
      "id": "robotwin-plus/stamp-seal-aloha-agilex-language-plus",
      "title": "Stamp seal",
      "native_task": "stamp_seal",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "Grab the stamp and stamp onto the specific color mat",
      "measured": "Grab the stamp and stamp onto the center of the colored mat, leaving the stamp there and both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/stamp_seal",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/stamp_seal.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stamp_seal.py",
      "catalog_path": "tasks/task12/catalog/49-language-plus-stamp-seal/task.yaml",
      "catalog_sha256": "ce0437d835bbfd7341b789e95f9a9e89c6a733791e40890ec802e9490a34b5cd",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/49",
      "notes": [
        "The native predicate does not fully check the intermediate stamping action.",
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/49-light-stamp-seal",
      "id": "robotwin-plus/stamp-seal-aloha-agilex-light",
      "title": "Stamp seal",
      "native_task": "stamp_seal",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "Grab the stamp and stamp onto the specific color mat",
      "measured": "Grab the stamp and stamp onto the center of the colored mat, leaving the stamp there and both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stamp_seal",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stamp_seal.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stamp_seal.py",
      "catalog_path": "tasks/task12/catalog/49-light-stamp-seal/task.yaml",
      "catalog_sha256": "fa1a02296483709f98112d950eb3c3bf2aaf79fd458c03accf00f4a598dfd7ca",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/49",
      "notes": [
        "The native predicate does not fully check the intermediate stamping action."
      ]
    },
    {
      "key": "task12/49-objects-plus-stamp-seal",
      "id": "robotwin-plus/stamp-seal-aloha-agilex-objects-plus",
      "title": "Stamp seal",
      "native_task": "stamp_seal",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "Grab the stamp and stamp onto the specific color mat",
      "measured": "Grab the stamp and stamp onto the center of the colored mat, leaving the stamp there and both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stamp_seal",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stamp_seal.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stamp_seal.py",
      "catalog_path": "tasks/task12/catalog/49-objects-plus-stamp-seal/task.yaml",
      "catalog_sha256": "29759d88032049f7fb38e1a49918d7ef9b6689a78d0432d4851fdd20f3971101",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/49",
      "notes": [
        "The native predicate does not fully check the intermediate stamping action."
      ]
    },
    {
      "key": "task12/49-robot-state-stamp-seal",
      "id": "robotwin-plus/stamp-seal-aloha-agilex-robot-state",
      "title": "Stamp seal",
      "native_task": "stamp_seal",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "Grab the stamp and stamp onto the specific color mat",
      "measured": "Grab the stamp and stamp onto the center of the colored mat, leaving the stamp there and both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stamp_seal",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stamp_seal.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stamp_seal.py",
      "catalog_path": "tasks/task12/catalog/49-robot-state-stamp-seal/task.yaml",
      "catalog_sha256": "31ebc46f13496894790c88023f01d8280e6458ed7926983b490cd5c37e7a70a7",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/49",
      "notes": [
        "The native predicate does not fully check the intermediate stamping action."
      ]
    },
    {
      "key": "task12/49-vision-noise-stamp-seal",
      "id": "robotwin-plus/stamp-seal-aloha-agilex-vision-noise",
      "title": "Stamp seal",
      "native_task": "stamp_seal",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "Grab the stamp and stamp onto the specific color mat",
      "measured": "Grab the stamp and stamp onto the center of the colored mat, leaving the stamp there and both grippers open",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/stamp_seal",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stamp_seal.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stamp_seal.py",
      "catalog_path": "tasks/task12/catalog/49-vision-noise-stamp-seal/task.yaml",
      "catalog_sha256": "cf878b0b545dccaeced577921fc4c16bd37c07c3ff3c5fc63d4a4a79e522ebe5",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/49",
      "notes": [
        "The native predicate does not fully check the intermediate stamping action."
      ]
    },
    {
      "key": "task12/50-background-plus-turn-switch",
      "id": "robotwin-plus/turn-switch-aloha-agilex-background-plus",
      "title": "Turn switch",
      "native_task": "turn_switch",
      "family": "demo_background_plus",
      "configuration": "demo_background_plus",
      "native": "use the robotic arm to click the switch",
      "measured": "press the switch fully down",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/turn_switch",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/turn_switch.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/turn_switch.py",
      "catalog_path": "tasks/task12/catalog/50-background-plus-turn-switch/task.yaml",
      "catalog_sha256": "dd8f8a80aca8951451f7bed12731a8f9b1809c86b6dd1d350ffa81264efb0242",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus02/50",
      "notes": []
    },
    {
      "key": "task12/50-camera-turn-switch",
      "id": "robotwin-plus/turn-switch-aloha-agilex-camera",
      "title": "Turn switch",
      "native_task": "turn_switch",
      "family": "demo_camera",
      "configuration": "demo_camera",
      "native": "use the robotic arm to click the switch",
      "measured": "press the switch fully down",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/turn_switch",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/turn_switch.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/turn_switch.py",
      "catalog_path": "tasks/task12/catalog/50-camera-turn-switch/task.yaml",
      "catalog_sha256": "86c351d0e5695077fae4a4e2e900cdab88d63ac29d45f29a9e7fe461d5d32414",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus03/50",
      "notes": []
    },
    {
      "key": "task12/50-clean-turn-switch",
      "id": "robotwin-plus/turn-switch-aloha-agilex-clean",
      "title": "Turn switch",
      "native_task": "turn_switch",
      "family": "demo_clean",
      "configuration": "demo_clean",
      "native": "use the robotic arm to click the switch",
      "measured": "press the switch fully down",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/turn_switch",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/turn_switch.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/turn_switch.py",
      "catalog_path": "tasks/task12/catalog/50-clean-turn-switch/task.yaml",
      "catalog_sha256": "9df870090030cd9732c7db663651c7b84c561f4d382a15282c4a472ceb16cbc1",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus01/50",
      "notes": []
    },
    {
      "key": "task12/50-language-plus-turn-switch",
      "id": "robotwin-plus/turn-switch-aloha-agilex-language-plus",
      "title": "Turn switch",
      "native_task": "turn_switch",
      "family": "demo_language_plus",
      "configuration": "demo_language_plus",
      "native": "use the robotic arm to click the switch",
      "measured": "press the switch fully down",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction_plus/turn_switch",
      "pool_keys": [
        "r1_distraction",
        "r2_commonsense",
        "r3_reasoning"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/turn_switch.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/turn_switch.py",
      "catalog_path": "tasks/task12/catalog/50-language-plus-turn-switch/task.yaml",
      "catalog_sha256": "dd59cda13ad44f85bf1b223c7247a4707b66ae2f2008934e46dc3f25e0635ee2",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus04/50",
      "notes": [
        "RLE replaces the R1/R2/R3 wording with the same explicit goal used by the other Plus configurations."
      ]
    },
    {
      "key": "task12/50-light-turn-switch",
      "id": "robotwin-plus/turn-switch-aloha-agilex-light",
      "title": "Turn switch",
      "native_task": "turn_switch",
      "family": "demo_light",
      "configuration": "demo_light",
      "native": "use the robotic arm to click the switch",
      "measured": "press the switch fully down",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/turn_switch",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/turn_switch.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/turn_switch.py",
      "catalog_path": "tasks/task12/catalog/50-light-turn-switch/task.yaml",
      "catalog_sha256": "011081f68c9a5e0f409c943376e80e0abde4a84f248cb6c3c88c595a2d252b81",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus05/50",
      "notes": []
    },
    {
      "key": "task12/50-objects-plus-turn-switch",
      "id": "robotwin-plus/turn-switch-aloha-agilex-objects-plus",
      "title": "Turn switch",
      "native_task": "turn_switch",
      "family": "demo_objects_plus",
      "configuration": "demo_objects_plus",
      "native": "use the robotic arm to click the switch",
      "measured": "press the switch fully down",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/turn_switch",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/turn_switch.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/turn_switch.py",
      "catalog_path": "tasks/task12/catalog/50-objects-plus-turn-switch/task.yaml",
      "catalog_sha256": "e7c59085f7064ca9c698cdde287412a826eeb567d79aca78bc2f5dc76c08bdf2",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus06/50",
      "notes": []
    },
    {
      "key": "task12/50-robot-state-turn-switch",
      "id": "robotwin-plus/turn-switch-aloha-agilex-robot-state",
      "title": "Turn switch",
      "native_task": "turn_switch",
      "family": "demo_robot_state",
      "configuration": "demo_robot_state",
      "native": "use the robotic arm to click the switch",
      "measured": "press the switch fully down",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/turn_switch",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/turn_switch.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/turn_switch.py",
      "catalog_path": "tasks/task12/catalog/50-robot-state-turn-switch/task.yaml",
      "catalog_sha256": "449914fb3b73476095ca2b02feada4ad51ff8fdebce098e0dda6a5a838f62479",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus07/50",
      "notes": []
    },
    {
      "key": "task12/50-vision-noise-turn-switch",
      "id": "robotwin-plus/turn-switch-aloha-agilex-vision-noise",
      "title": "Turn switch",
      "native_task": "turn_switch",
      "family": "demo_vision_noise",
      "configuration": "demo_vision_noise",
      "native": "use the robotic arm to click the switch",
      "measured": "press the switch fully down",
      "status": "changed",
      "bindings": {},
      "definition": "task_instruction/turn_switch",
      "pool_keys": [
        "seen"
      ],
      "native_reference_field": "full_description",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/turn_switch.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/turn_switch.py",
      "catalog_path": "tasks/task12/catalog/50-vision-noise-turn-switch/task.yaml",
      "catalog_sha256": "343086ee34b205f57bc621041cf1f783ed5fff19121328f7bf9551e0b1da22ff",
      "instruction_override": true,
      "rle_snapshot": "sources/task12-catalog.json",
      "rle_manifest": "sources/task12-manifest-rle.yaml",
      "published_task_key": "plus08/50",
      "notes": []
    }
  ],
  "native_sources": {
    "task_instruction/handover_block": {
      "full_description": "use the left arm to grasp the red block on the table, handover it to the right arm and place it on the blue pad",
      "schema": "",
      "pools": {
        "seen": [
          "Pass the red block from the left to the right.",
          "Place the red block onto the blue pad using the right arm.",
          "Pick the red block with the left hand and pass it.",
          "Hand over the red block to the right arm.",
          "Set the red block on the blue pad gently.",
          "Take the red block using the left arm and hand it over.",
          "Grip the red block with the left arm and transfer it.",
          "Move the red block from the left hand to the pad.",
          "Grab the red block, transfer it, and set it on blue.",
          "Lift the red block, hand it over, and place it properly.",
          "Use left arm to grab the block and hand it to the right.",
          "Take the red block, pass it to the right arm, and drop it.",
          "Pick the red block with the left arm and transfer to the right.",
          "Hold the red block with the left arm and place it on the pad.",
          "Grab the red block, hand it to the right arm, then set it down.",
          "Lift the block with the left arm, pass it to the right arm.",
          "Use left arm to grab the red block and place it on the pad.",
          "Take the red block, pass it to the right arm, then place it.",
          "Grab red block, pass to the right arm, then drop on blue pad.",
          "Hold the red block, transfer to the right arm, then set it down.",
          "Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
          "With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
          "Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
          "Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
          "Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
          "Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
          "The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
          "Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
          "Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
          "With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
          "Move the red block using the left arm.",
          "Lift the red block with your left arm.",
          "Hand the red block to the right arm.",
          "Grab the red block and transfer to the right.",
          "Use the left arm to grab the red block.",
          "Place the red block on the blue pad.",
          "Pick up and handover the red block.",
          "Take the red block and move it to the pad.",
          "Use your arms to shift the red block.",
          "Lift, switch arms, and place the red block.",
          "Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
          "Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
          "Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
          "Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
          "Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
          "Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
          "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
          "Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
          "Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
          "Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad."
        ],
        "unseen": [
          "Grab the red block with the left arm.",
          "Use the left arm to pick up the red block.",
          "Grab the red block using the left arm.",
          "Pass the red block to the right arm and set it down.",
          "Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
          "Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
          "Grab the red block with the left arm.",
          "Pick up the red block and switch arms.",
          "Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
          "Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad."
        ]
      },
      "sha256": "8fed548a88ebeadc164889398e20532f622509c867c0a075653e2bf35b8daa19",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/handover_block.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_block.py"
    },
    "task_instruction_plus/handover_block": {
      "full_description": "use the left arm to grasp the red block on the table, handover it to the right arm and place it on the blue pad",
      "schema": "",
      "pools": {
        "r1_distraction": [
          "Hey, before the next experiment, could you use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad?",
          "I just checked the schedule and we're on track, but please grab the red block with the left arm, pass it to the right arm, and set it on the blue pad.",
          "The copy machine is out of toner, but can you pick up the red block with the left arm, transfer it to the right, and place it on the blue pad?",
          "Someone mentioned it might snow this weekend. Anyway, grab the red block using the left arm, hand it over to the right arm, and drop it on the blue pad.",
          "I still need to file that report, but first, use the left arm to pick up the red block, pass it to the right arm, and place it on the blue pad.",
          "The elevator music is really annoying today, but please grab the red block with the left arm, hand it to the right, and set it on the blue pad.",
          "We should update the inventory list, but right now, pick up the red block with the left arm, pass to the right, and put it on the blue pad.",
          "My coffee went cold, but could you grab the red block using the left arm, transfer it to the right arm, and place it on the blue pad?",
          "I think the building's fire alarm was tested earlier. Anyway, use the left arm to take the red block, hand it to the right arm, and set it on the blue pad.",
          "The parking lot was full this morning, but moving on, grab the red block with the left arm, pass it to the right, and place it on the blue pad.",
          "There's a birthday party in the break room later, but first, use the left arm to grasp the red block, hand it to the right arm, and put it on the blue pad.",
          "I can't find my charger anywhere. Anyway, pick up the red block with the left arm, transfer to the right arm, and set it on the blue pad.",
          "The stairwell door keeps slamming, but could you grab the red block using the left arm, pass it to the right, and place it on the blue pad?",
          "I heard the cafeteria is closing early today, but please use the left arm to grab the red block, hand it off to the right arm, and place it on the blue pad.",
          "Not sure who changed the thermostat, but right now, grab the red block with the left arm, pass it to the right arm, and put it on the blue pad."
        ],
        "r2_commonsense": [
          "Employ the left manipulator to seize the crimson cube from the surface, transfer it to the right manipulator, and deposit it on the azure mat.",
          "With the left gripper, take hold of the scarlet rectangular solid, relay it to the right gripper, and set it down on the blue-colored platform.",
          "Use the left appendage to collect the ruby-toned block, convey it to the right appendage, and rest it on the cobalt-colored pad.",
          "Grasp the warm-colored cube with the left end effector, shift it to the right end effector, and lower it onto the ocean-toned cushion.",
          "The left arm should clasp the cherry-hued solid, deliver it to the right arm, and position it on the sapphire-colored surface.",
          "Utilize the left-side limb to acquire the fiery-toned block, pass it across to the right-side limb, and settle it on the blue landing zone.",
          "Employ the left gripper to snatch the vermillion block, hand it to the right gripper, and lay it on the indigo-tinted pad.",
          "Using the left arm, grip the rose-colored rectangular piece, give it to the right arm, and station it atop the blue-tinted mat.",
          "With the left manipulator arm, pick up the carmine cube, switch it to the right manipulator arm, and put it down on the azure cushion.",
          "Let the left arm collect the rust-colored block, relay it to the right arm, and deposit it on the navy-hued pad.",
          "The left-side gripper should secure the crimson solid, transition it to the right-side gripper, and drop it on the cerulean pad.",
          "Employ the sinistral arm to obtain the reddish block, exchange it to the dextral arm, and place it on the blue-tinged platform.",
          "With the left robotic arm, clutch the bright red piece, transfer it rightward, and set it gently on the blue-shaded mat.",
          "Use the port-side arm to pick up the scarlet cube, move it to the starboard arm, and position it on the azure-colored pad.",
          "Grab the rouge-colored rectangular solid with the left arm, convey it to the right arm, and rest it upon the blue landing pad.",
          "Command the left arm to take the red-tinted block, pass it to the right arm, and settle it on the blue-dyed surface.",
          "Let the left appendage capture the flame-colored cube, deliver it to the right appendage, and drop it onto the cobalt mat.",
          "Use the left-hand arm to retrieve the ruby block, swap it to the right-hand arm, and lower it onto the azure platform.",
          "The left gripper should snag the cardinal-colored solid, hand it off to the right gripper, and install it on the blue cushion.",
          "Employ the left arm to lift the tomato-red block, relay it to the right arm, and place it neatly on the blue-toned pad.",
          "With the left mechanical arm, seize the bright red cube, shift it to the right mechanical arm, and rest it on the sapphire pad.",
          "Direct the left arm to collect the crimson rectangular piece, transition it to the right arm, and deposit it upon the blue surface.",
          "Using the left extremity, obtain the warm-hued block, transfer it across to the right extremity, and set it on the blue-colored cushion.",
          "Command the left gripper to acquire the red solid, forward it to the right gripper, and lay it down on the azure-tinted pad.",
          "Have the left arm grasp the rose-tinted cube, pass it into the right arm, and position it on the blue-colored resting pad."
        ],
        "r3_reasoning": [
          "Ensure the red block ends up on the blue pad, having been transferred from the left arm to the right arm.",
          "The goal is for the red block to be resting on the blue pad after being handed over from the left arm to the right arm.",
          "Make sure the blue pad has the red block on it, and that the handover between left and right arms was completed.",
          "By the end, the red block should no longer be on the table but rather placed on the blue pad via a left-to-right arm transfer.",
          "The desired outcome is the red block sitting on the blue pad, having passed through both arms during the process.",
          "Verify that the left arm picked up the red block, transferred it to the right arm, and the right arm deposited it on the blue pad.",
          "After completion, the red block should be on the blue pad and both arms should be free.",
          "The task succeeds when the red block occupies the blue pad surface, having been relayed from left arm to right arm.",
          "Confirm that the table no longer has the red block in its original position and it now rests squarely on the blue pad.",
          "The end state should show the red block centered on the blue pad after a successful left-to-right arm handover."
        ]
      },
      "sha256": "eceebd1b111a913198be4969d0e6e044edd1a10e1427ff442c80312e113b77e5",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/handover_block.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_block.py"
    },
    "task_instruction/place_dual_shoes": {
      "full_description": "use both arms to pick up the two shoes on the table and put them in the shoebox, with the shoe tip pointing to the left",
      "schema": "{A} notifies one shoe(use 'two {A}' or 'a pair of {}').{B} nofity the shoebox",
      "pools": {
        "seen": [
          "Put two {A}, tips to the left, into {B}.",
          "Pick up two {A}, tips left, drop them into {B}.",
          "Collect two {A}, tips facing left, and put in {B}.",
          "Move two {A}, tip ends left, and set them in {B}.",
          "Transfer two {A}, tips left-aligned, into {B}.",
          "Use arms to lift two {A}, tips left, and set in {B}.",
          "Retrieve two {A}, orienting tips left, and place in {B}.",
          "Handle two {A}, tips directed left, and drop them into {B}.",
          "Pick two {A}, ensure tips facing left, and position in {B}.",
          "Grasp two {A}, tips aligned left, and place them in {B}.",
          "Grab two {A}, tip left, place them in {B}.",
          "Pick up two {A} and set them in {B}, tips left.",
          "Use hands to grab two {A}, tips left, drop into {B}.",
          "Move two {A} into {B}, ensure tips point left.",
          "Grab a pair of {A}, tips left, put them into {B}.",
          "Use both arms to place two {A} into {B}, tips left.",
          "Pick up two {A}, tips left, and set them in {B}.",
          "Place two {A} into {B}, ensure shoe tips face left.",
          "With both arms, move two {A} into {B}, tips facing left.",
          "Grab two {A}, tips left, place them carefully in {B}.",
          "Pick up two {A} together and place in {B}, tips left.",
          "Ensure two {A} are in {B}, tips facing left.",
          "Grab both {A} and put them into {B}, tips left.",
          "Set two {A} into the {B}, align tips to the left.",
          "Hold two {A}, drop them in {B}, tips pointing left.",
          "Place two {A} inside {B}, make tips face left.",
          "Lift two {A}, position them in {B}, tips to the left.",
          "Drop a pair of {A} into {B}, tips align left.",
          "Use both arms to set two {A} in {B}, tips left.",
          "Lay down two {A} in {B}, tips oriented left.",
          "Set two {A} in {B} with tips left.",
          "Hold two {A}, tips left, and place in {B}.",
          "Pick up two {A}, ensure tips point left.",
          "Put two {A} into {B}, shoe tips left.",
          "Make sure tips point left, then place {A} in {B}.",
          "Grab and place two {A} in {B}, tips left.",
          "Pick two {A} up from table, tips left.",
          "Stick both {A} in {B}, shoe tips pointing left.",
          "Place two {A} in {B}, tip left when set.",
          "Lift and put two {A} in {B}, tips left.",
          "Set two {A} in the {B}, tips pointing left.",
          "Place two {A} tips leftward into the {B}.",
          "Lift two {A}, ensure left tips, drop in {B}.",
          "Move a pair of {A} into {B}, left tips first.",
          "Slide both {A} into {B} with tips pointing left.",
          "Take two {A}, ensure tips left, place in {B}.",
          "Position two {A} into {B}, shoe tips leftward.",
          "Put two {A} in {B} with tips facing left.",
          "Arrange the two {A}, tips left, inside {B}.",
          "Grab both {A}, ensure tips left, place in {B}."
        ],
        "unseen": [
          "Lift two {A}, tips pointing left, into {B}.",
          "Grab two {A}, point tips left, place in {B}.",
          "Pick up two {A}, tips left, into {B}.",
          "Use both arms to move two {A} to {B}, tips pointing left.",
          "Grab two {A} and set them in {B}, tips left.",
          "Put a pair of {A} in the {B}, tips pointing left.",
          "Grab two {A} with both hands, tip left.",
          "Place two {A} into {B}, tips left.",
          "Pick up two {A}, tips left, into {B}.",
          "Grab a pair of {A}, place left tips in {B}."
        ]
      },
      "sha256": "2309e0876358ab05f701c1bb58fb05a196ac0ad737a2b6ee53c6f7c24c099b42",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_dual_shoes.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_dual_shoes.py"
    },
    "task_instruction_plus/place_dual_shoes": {
      "full_description": "use both arms to pick up the two shoes on the table and put them in the shoebox, with the shoe tip pointing to the left",
      "schema": "{A} notifies one shoe(use 'two {A}' or 'a pair of {}').{B} nofity the shoebox",
      "pools": {
        "r1_distraction": [
          "Hey, before we continue, could you place two shoes in the shoebox with the tips pointing left?",
          "I was thinking about organization, but first grab two shoes and put them in the shoebox, tips left.",
          "The weather is nice, anyway, use both arms to move two shoes to the shoebox, tips facing left.",
          "Before we move on, could you set two shoes inside the shoebox, ensuring tips point left?",
          "I'm wondering about shoe orientation, but first take two shoes and place them in the shoebox, tips left.",
          "Speaking of which, can you grab two shoes and drop them in the shoebox, tips pointing left?",
          "You know, alignment is important, anyway, lift two shoes and set them in the shoebox, tips left.",
          "Just a quick task - move two shoes into the shoebox, ensuring tips face left.",
          "Before finishing, could you place two shoes together in the shoebox, tips left?",
          "One more step - use both arms to transfer two shoes to the shoebox, tips aligned left.",
          "By the way, remember the tip direction - put two shoes in the shoebox, tips pointing left.",
          "Before moving on, pick up two shoes and place them in the shoebox, tips left.",
          "Just so you're aware, we need two shoes in the shoebox with tips left.",
          "One moment - grab two shoes and position them in the shoebox, tips facing left.",
          "Before we wrap up, relocate two shoes to the shoebox, ensuring tips point left."
        ],
        "r2_commonsense": [
          "Seize the pair of foot coverings shoes using both appendages and deposit them into the protective shoe enclosure the shoebox, ensuring the toe portions align toward the left.",
          "Grasp two leather foot garments shoes with dual arms and transfer them into the storage box the shoebox, with the pointed ends facing leftward.",
          "Obtain a pair of foot-worn items shoes and place them inside the shoebox the shoebox, making certain the tips direct toward the left side.",
          "Capture both shoes using dual limbs and relocate them into the footwear container the shoebox, positioning tips to the left.",
          "Retrieve the pair of shoes and establish them within the enclosed shoe receptacle the shoebox, aligning tips to the left.",
          "Take two sole-bearing garments shoes and position them in the storage the shoebox, ensuring toe ends point leftward.",
          "Secure a pair of shoes using dual arms and drop them into the protective case the shoebox, with tips directed left.",
          "Grasp the two foot coverings shoes and transfer them into the shoebox, orienting the pointed extremities toward the left.",
          "Obtain two shoes and place them together in the shoe storage the shoebox, tips facing leftward.",
          "Capture a pair of shoes and relocate them into the shoebox, with the forward ends pointing to the left.",
          "Retrieve two shoes with both hands and establish them within the shoebox, aligning the tips left.",
          "Acquire the pair of shoes using dual appendages and position them in the shoebox, ensuring tips point left.",
          "Snatch two shoes using both arms and place them in the shoebox, with tips directed leftward.",
          "Lift the pair of shoes and drop them into the shoebox, ensuring tips face the left side.",
          "Hold two shoes using dual limbs and shift them into the shoebox, with tips aligned left.",
          "Engage a pair of shoes with both arms and reposition them in the shoebox, tips pointing leftward.",
          "Extract two shoes using both hands and place them in the shoebox, with tips to the left.",
          "Capture the pair of shoes with both appendages and align them in the shoebox, tips facing left.",
          "Lift two shoes and deposit them in the protective the shoebox, ensuring tips point to the left.",
          "Clutch a pair of shoes and establish them in the shoebox, with tips directed leftward.",
          "Pick up two shoes using both arms and place them in the shoebox, tips pointing left.",
          "Seize a pair of shoes and transfer them to the shoebox using dual arms, with tips leftward.",
          "Engage two shoes with both hands and drop them into the shoebox, tips facing the left.",
          "Extract the pair of shoes using both limbs and establish them in the shoebox, tips left.",
          "Secure two shoes using dual appendages and position them in the shoebox, ensuring leftward tips."
        ],
        "r3_reasoning": [
          "Ensure both shoes end up in the shoebox with tips pointing left.",
          "Make sure two shoes are positioned in the shoebox, tips facing leftward.",
          "Arrange things so shoes rest in the shoebox with tips directed to the left.",
          "Verify that two shoes are placed in the shoebox, tips pointing left.",
          "Achieve a state where shoes occupy the shoebox, with tips aligned left.",
          "Establish two shoes within the shoebox, tips facing the left side.",
          "Result in shoes being in the shoebox with tips pointing leftward.",
          "Confirm shoes are secured in the shoebox with tips to the left.",
          "Conclude with two shoes in the shoebox, tips facing left.",
          "Position shoes such that they rest in the shoebox with leftward-pointing tips."
        ]
      },
      "sha256": "f22abb2098881f47a0b34296dbb454d98d176d70ed0c3cb3c6e0bbea50dd2fdc",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_dual_shoes.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_dual_shoes.py"
    },
    "task_instruction/put_bottles_dustbin": {
      "full_description": "use arms to grab the bottles and put them into the dustbin to the left of the table",
      "schema": "{A} notifies the first bottle, {B} notifies the second bottle, {C} notifies the third bottle, {D} notifies the dustbin",
      "pools": {
        "seen": [
          "Take {A}, {B}, and {C} one at a time and place them into {D}.",
          "Grab {A} and {B}, put them into {D}, and repeat for {C}.",
          "Use the arms to transfer {A}, {B}, and {C} into {D} one by one.",
          "Move {A}, {B}, and {C} to {D} sequentially using the arms.",
          "Drop {A}, {B}, and {C} into {D}, handling them one at a time.",
          "With arms, place {A}, {B}, and {C} into {D} step by step.",
          "Carefully grab {A}, {B}, and {C} and position them in {D}.",
          "Using arms, pick up {A}, {B}, and {C}, dropping each into {D}.",
          "Place {A}, {B}, and {C} into {D} after taking them individually.",
          "Transfer {A}, {B}, and {C} into {D} using your arms, one by one.",
          "Using arms, grab {A} and put it in {D}, repeat for {B} and {C}.",
          "Take {A}, drop it in {D}, then move {B} and {C} to {D}.",
          "Grab {A}, place it in {D}, then grab {B} and {C} for {D}.",
          "Use arms to pick {A}, drop it in {D}, repeat for {B} and {C}.",
          "Pick {A} and move it into {D}, repeat for {B} and {C}.",
          "Using arms, grab {A} and {B}, then place them into {D} along with {C}.",
          "Grab {A}, put it in {D}, follow by moving {B} and {C} there too.",
          "Take {A} with arms, put it in {D}, repeat the same for {B} and {C}.",
          "Pick {A}, drop it into {D}, then move {B} and {C} into {D}.",
          "Using arms, grab {A} and place it in {D}, do the same for {B} and {C}.",
          "Move {A}, {B}, and {C} into {D} one by one.",
          "Grab each of {A}, {B}, and {C} and drop them into {D}.",
          "Use the arms to move {A} into {D}, then repeat for {B} and {C}.",
          "Place {A}, {B}, and {C} in {D} using the arms.",
          "Transfer {A}, {B}, and {C} into {D} step by step.",
          "Put {A} into {D}, followed by {B} and {C}.",
          "Use arms to pick {A}, {B}, and {C}, dropping them into {D}.",
          "Move {A} to {D}, then {B}, and finally {C}.",
          "Grab {A}, {B}, and {C} sequentially, placing each into {D}.",
          "Pick {A}, {B}, and {C} one at a time and put them into {D}.",
          "Use arms to move {A}, {B}, and {C} into {D}.",
          "Start with {A}, grab it and drop it into {D}, repeat for {B} and {C}.",
          "Place {A}, {B}, and {C}, one at a time, into {D}.",
          "Begin with {A}, move it to {D}, then continue with {B} and {C}.",
          "Lift {A}, {B}, and {C}, dropping each into {D} sequentially.",
          "Grab {A}, drop it in {D}, do the same for {B} and {C}.",
          "Pick up {A}, {B}, and {C}, moving them one by one into {D}.",
          "Use the arms to transfer {A}, {B}, and {C} into {D} step by step.",
          "Move {A} into {D}, then do the same for {B} and {C}.",
          "Carry {A} first, drop it into {D}, repeat with {B} and {C}.",
          "Use arms to pick {A}, {B}, {C}, and place them one by one in {D}.",
          "Transfer {A}, {B}, and {C} to {D} located to the table's left.",
          "Grab {A}, {B}, and {C} and put them sequentially into {D}.",
          "Use arms to grab {A}, {B}, {C}, and set them into {D} to the left.",
          "Pick {A}, {B}, and {C} from the table and place them inside {D}.",
          "Use arms to move {A}, {B}, and {C} to {D} on the table's left.",
          "Place {A}, {B}, and {C} into {D} one after another.",
          "Grab {A}, {B}, {C}, and drop them into {D} to the left of the table.",
          "Use arms to pick {A}, {B}, and {C} and place them in {D}.",
          "Take {A}, {B}, and {C} and place them into {D} on the left."
        ],
        "unseen": [
          "Pick up {A} and toss it into {D}; repeat for {B} and {C}.",
          "Use arms to grab {A}, {B}, and {C} and drop them into {D}.",
          "Pick {A}, drop it into {D}, repeat for {B} and {C}.",
          "Grab {A} and place it in {D}, then do the same for {B} and {C}.",
          "Pick up {A} and drop it into {D}, do the same for {B} and {C}.",
          "Use arms to grab {A}, {B}, and {C}, placing each into {D}.",
          "Pick up {A}, drop it into {D}, then repeat for {B} and {C}.",
          "Take each bottle {A}, {B}, {C} one by one and place them in {D}.",
          "Pick up {A}, {B}, and {C} one by one and drop them into {D}.",
          "Move {A}, {B}, and {C} into {D} on the left of the table."
        ]
      },
      "sha256": "c0321d06f242eea50447fe9c9e5647b9c8399eef6b61b43243ca920e3eed55e1",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/put_bottles_dustbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_bottles_dustbin.py"
    },
    "task_instruction_plus/put_bottles_dustbin": {
      "full_description": "use arms to grab the bottles and put them into the dustbin to the left of the table",
      "schema": "{A} notifies the first bottle, {B} notifies the second bottle, {C} notifies the third bottle, {D} notifies the dustbin",
      "pools": {
        "r1_distraction": [
          "Before we start, I was thinking about recycling, but use arms to grab the first bottle, the second bottle, and the third bottle and drop them into the dustbin.",
          "Hey, speaking of trash, pick up the first bottle, the second bottle, and the third bottle one at a time and place them into the dustbin.",
          "You know, the floor is getting messy, but grab the first bottle, drop it in the dustbin, then repeat for the second bottle and the third bottle.",
          "Speaking of which, the place needs cleaning, so use arms to move the first bottle, the second bottle, and the third bottle into the dustbin one by one.",
          "I was wondering about waste management, but take the first bottle, the second bottle, and the third bottle and drop them into the dustbin.",
          "By the way, it's almost time to empty the trash, so pick the first bottle, the second bottle, and the third bottle and place them in the dustbin.",
          "Just so you know, the bottles are piling up, but use arms to grab the first bottle and put it in the dustbin, repeat for the second bottle and the third bottle.",
          "Did you see the clutter? Anyway, grab the first bottle, place it in the dustbin, then move the second bottle and the third bottle there too.",
          "The disposal is full, but pick the first bottle, drop it in the dustbin, then move the second bottle and the third bottle into the dustbin.",
          "I've been thinking about organization, but use arms to grab the first bottle, the second bottle, the third bottle and drop them into the dustbin.",
          "You know, I need to tidy up, so take the first bottle with arms, put it in the dustbin, repeat for the second bottle and the third bottle.",
          "Speaking of tidying, grab the first bottle, place it in the dustbin, then grab the second bottle and the third bottle for the dustbin.",
          "I was reading about recycling, so move the first bottle, the second bottle, and the third bottle into the dustbin one by one.",
          "Did you notice the mess? Anyway, pick the first bottle, drop it into the dustbin, then move the second bottle and the third bottle into the dustbin.",
          "By the way, we need to clean up, but grab the first bottle, the second bottle, and the third bottle and put them sequentially into the dustbin."
        ],
        "r2_commonsense": [
          "Use arms to retrieve the first bottle, the second bottle, and the third bottle, placing each into the waste receptacle the dustbin.",
          "Pick up the first bottle, the second bottle, and the third bottle one at a time and transfer them into the refuse container the dustbin.",
          "Grab the first bottle, the second bottle, and the third bottle sequentially and drop them into the disposal bin the dustbin.",
          "Use arms to move the first bottle, the second bottle, and the third bottle into the trash collection vessel the dustbin.",
          "Take the first bottle, the second bottle, and the third bottle and place them into the garbage receptacle the dustbin.",
          "Use arms to grab the first bottle, the second bottle, and the third bottle and deposit them in the waste bin the dustbin.",
          "Pick the first bottle, the second bottle, and the third bottle one at a time and drop them into the dustbin.",
          "Transfer the first bottle, the second bottle, and the third bottle using arms into the disposal receptacle the dustbin.",
          "Grab the first bottle, the second bottle, and the third bottle sequentially and place them into the dustbin.",
          "Use arms to move the first bottle, the second bottle, and the third bottle into the refuse container the dustbin.",
          "Position the first bottle, the second bottle, and the third bottle into the waste collection bin the dustbin one by one.",
          "Pick up the first bottle, the second bottle, and the third bottle and transfer them to the garbage the dustbin.",
          "Use arms to handle the first bottle, the second bottle, and the third bottle, placing each into the dustbin.",
          "Take the first bottle, the second bottle, and the third bottle and drop them into the trash receptacle the dustbin.",
          "Grab the first bottle, the second bottle, and the third bottle and move them into the disposal the dustbin.",
          "Use arms to collect the first bottle, the second bottle, and the third bottle and place them in the dustbin.",
          "Transfer the first bottle, the second bottle, and the third bottle into the waste bin the dustbin sequentially.",
          "Pick the first bottle, the second bottle, and the third bottle using arms and drop them into the dustbin.",
          "Move the first bottle, the second bottle, and the third bottle into the garbage receptacle the dustbin one by one.",
          "Use arms to place the first bottle, the second bottle, and the third bottle into the refuse container the dustbin.",
          "Handle the first bottle, the second bottle, and the third bottle with arms and deposit them in the dustbin.",
          "Take the first bottle, the second bottle, and the third bottle sequentially and place them into the dustbin.",
          "Grab the first bottle, the second bottle, and the third bottle using arms and transfer to the dustbin.",
          "Use arms to move the first bottle, the second bottle, and the third bottle into the dustbin one after another.",
          "Position the first bottle, the second bottle, and the third bottle into the dustbin using arms."
        ],
        "r3_reasoning": [
          "Ensure the first bottle, the second bottle, and the third bottle all end up in the waste receptacle the dustbin.",
          "The goal is for the first bottle, the second bottle, and the third bottle to be placed inside the dustbin.",
          "Make the first bottle, the second bottle, and the third bottle positioned in the disposal bin the dustbin.",
          "Guarantee that the first bottle, the second bottle, and the third bottle are transferred into the dustbin.",
          "The desired outcome is the first bottle, the second bottle, and the third bottle all in the garbage the dustbin.",
          "Your task is to have the first bottle, the second bottle, and the third bottle end up in the dustbin.",
          "Achieve a state where the first bottle, the second bottle, and the third bottle are inside the refuse container the dustbin.",
          "Position the first bottle, the second bottle, and the third bottle such that all are placed in the dustbin.",
          "The result should be the first bottle, the second bottle, and the third bottle in the waste bin the dustbin.",
          "Make sure the first bottle, the second bottle, and the third bottle are all transferred into the dustbin."
        ]
      },
      "sha256": "6d05cb780f3410fc7c8118e0612b451128070c85bc6520a664b54b77b066532b",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/put_bottles_dustbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_bottles_dustbin.py"
    },
    "task_instruction/scan_object": {
      "full_description": "Use one arm to pick the scanner and use the other arm to pick the object, and use the scanner to scan the object",
      "schema": "{A} notifies the object, {B} notifies the scanner, {a} notifies the arm to pick the object, {b} notifies the arm to pick the scanner",
      "pools": {
        "seen": [
          "{b} picks up {B}, {a} holds {A}, and you scan {A} with {B}.",
          "Use {b} to pick {B}, {a} to grab {A}, and scan {A} using {B}.",
          "Pick {B}, grab {A}, and scan it with {B}.",
          "{b} grabs {B}, {a} picks {A}, and {B} scans {A}.",
          "{B} is picked with {b}, {A} grabbed with {a}, scan {A} using {B}.",
          "Pick {A}, grab {B}, and use {B} to scan the object.",
          "{b} holds {B}, {a} grabs {A}, and scans {A} with {B}.",
          "Pick {B}, grab {A}, then scan {A} using {B}.",
          "Grab {A}, pick {B}, and use {B} to scan {A}.",
          "{a} picks {A}, {b} grabs {B}, and scans {A} with {B}.",
          "Use one arm for {B} and the other for {A}, then scan {A} with {B}",
          "Take {B}, grab {A}, and scan {A} using {B}",
          "Hold {B} in one arm, pick up {A} with the other, then use {B} to scan {A}",
          "Pick {B}, then pick {A}, and use {B} to scan {A}",
          "Grab {B} using one arm, pick {A} using the other arm, then scan {A} with {B}",
          "Take {B}, hold {A}, and use {B} to scan it",
          "Use one arm to grab {B}, the other to pick {A}, and scan {A} with {B}",
          "Pick {B}, grab {A}, and scan it with {B}",
          "Grab {B} in one hand, pick {A} in the other hand, then scan {A} with {B}",
          "Hold {B}, pick {A}, and scan {A} using {B}",
          "Using {b}, pick {B}, then use {a} to grab {A} and scan it.",
          "Pick {B} with {b}, grab {A} with {a}, and scan {A}.",
          "Use one arm to grab {B}, the other to hold {A}, and scan it.",
          "Take {B}, then grab {A}, and scan {A} with {B}.",
          "Hold {B}, grab {A}, then scan {A} using {B}.",
          "With {b}, pick {B}, then grab {A} with {a}, and scan {A}.",
          "Take hold of {B} using {b}, grab {A} using {a}, and scan it.",
          "Grab {B}, pick {A}, and perform a scan on {A} with {B}.",
          "Use {b} to take {B}, then grab {A} with {a}, and scan it.",
          "First, grab {B}, then pick {A}, and scan {A} using {B}.",
          "Hold {B} with {b} and {A} with {a}, then scan {A} using {B}.",
          "Pick {B}, grab {A}, and scan {A} with {B}.",
          "Use {b} to take {B}, use {a} to pick {A}, and scan {A} using {B}.",
          "Pick up {B}, hold {A}, and use {B} to scan {A}.",
          "Hold {A} with one hand, grab {B} with the other, and scan {A}.",
          "Take {B} using {b}, pick {A} using {a}, and scan {A} with {B}.",
          "Pick {A}, grab {B}, and use the scanner to scan the object.",
          "Take {B} in {b}, pick {A} in {a}, and scan {A} using {B}.",
          "Lift up {B}, hold {A}, and scan {A} using the scanner.",
          "Use {b} to pick {B}, use {a} to grab {A}, and scan {A} with {B}.",
          "Using one arm, grab {B}, then grab {A} with the other arm, and scan.",
          "Take {B} in one hand, {A} in the other, and perform the scan.",
          "Hold {B} and {A} with different arms, then scan {A} using {B}.",
          "First pick {B}, then {A}, and use {B} to scan {A}.",
          "Grab {B} with one arm, {A} with the other, and use {B} to scan.",
          "Pick up {B} in one arm and {A} in the other, then scan {A}.",
          "Handle {B} and {A} separately, ensuring {B} scans {A}.",
          "First grab {B}, then {A}, and use {B} to scan {A}.",
          "Using one hand for {B} and the other for {A}, complete the scan.",
          "Hold {B} in one arm and {A} in the other, then scan {A} with {B}."
        ],
        "unseen": [
          "Pick {B}, grab {A}, and scan {A} with {B}.",
          "Grab {B}, then pick up {A}, and use {B} to scan {A}.",
          "Grab {B} with one arm, take {A} with the other, then scan {A} using {B}",
          "Pick up {B}, hold {A}, and scan it with {B}",
          "Pick {B}, grab {A}, and scan it with {B}.",
          "Grab {B}, take {A}, and scan {A} using {B}.",
          "Grab {B} in one hand and {A} in the other, then scan {A} with {B}.",
          "Take {B}, pick {A}, and use the scanner to perform the scan.",
          "Lift {B} in one hand and grab {A} with the other, then scan it.",
          "Pick up {B}, then pick {A}, and scan {A} using {B}."
        ]
      },
      "sha256": "0d641a174c056b17ea1d58c0305bd33e8c02f91a195877e6283f1d6e3005410b",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/scan_object.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/scan_object.py"
    },
    "task_instruction_plus/scan_object": {
      "full_description": "Use one arm to pick the scanner and use the other arm to pick the object, and use the scanner to scan the object",
      "schema": "{A} notifies the object, {B} notifies the scanner, {a} notifies the arm to pick the object, {b} notifies the arm to pick the scanner",
      "pools": {
        "r1_distraction": [
          "Say, I was just thinking about reorganizing the workspace, but first go ahead and pick up the scanner with the other arm, grab the object with one arm, and scan the object using the scanner.",
          "By the way, did you know it's time to pick the scanner and grab the object, then scan the object with the scanner?",
          "Before you continue, could you quickly use the other arm to pick the scanner, one arm to grab the object, and scan the object using the scanner?",
          "I had another thought - hold the scanner in one arm and pick up the object with the other, then use the scanner to scan the object.",
          "Real quick interruption: pick the scanner, grab the object, and scan it with the scanner.",
          "Just occurred to me - use one arm for the scanner and the other for the object, then scan the object with the scanner.",
          "While you're at it, take the scanner, grab the object, and use the scanner to scan the object.",
          "Hey, before you move on, use the other arm to pick the scanner, use one arm to grab the object, and scan the object using the scanner.",
          "Speaking of optical identification, pick the scanner, then pick the object, and use the scanner to scan the object.",
          "Just a thought - grab the scanner using one arm, pick the object using the other arm, then scan the object with the scanner.",
          "Real quick - use one arm to grab the scanner, the other to pick the object, and scan the object with the scanner.",
          "Oh, by the way, take the scanner, hold the object, and use the scanner to scan it.",
          "I almost forgot - using the other arm, pick the scanner, then use one arm to grab the object and scan it.",
          "Before we wrap up, could you pick the scanner with the other arm, grab the object with one arm, and scan the object?",
          "Real quick thought - use the other arm to take the scanner, then grab the object with one arm, and scan the object."
        ],
        "r2_commonsense": [
          "Acquire the optical reading apparatus the scanner using the other arm, obtain the target item the object using one arm, and apply the reading apparatus to the target item.",
          "Use the other arm to obtain the scanning mechanism the scanner, use one arm to grasp the target object the object, and direct the scanning apparatus to examine the object.",
          "Take hold of the authentication reading tool the scanner with the other arm, secure the target item the object with one arm, and perform the examination using the scanner.",
          "Employ the other arm to acquire the optical scanning mechanism the scanner, then employ one arm to secure the target object the object, and conduct the examination.",
          "Use the other arm to lift the detection apparatus the scanner, use one arm to hold the target item the object, and direct the apparatus to perform the examination.",
          "Grasp the optical reading mechanism the scanner using the other arm, obtain the target item the object using one arm, and apply the reading apparatus to examine the object.",
          "Acquire the scanning tool the scanner using the other arm, hold the target object the object using one arm, and direct the scanning tool to examine the item.",
          "Use the other arm to secure the optical apparatus the scanner, grasp the target item the object with one arm, and perform the examination operation.",
          "With the other arm, take the detection mechanism the scanner, then with one arm, hold the target object the object, and examine the object using the apparatus.",
          "Use the other arm to obtain the authentication apparatus the scanner, use one arm to secure the target item the object, and conduct the examination procedure.",
          "Grasp the scanning apparatus the scanner using the other arm, hold the target object the object using one arm, and direct the apparatus to perform the operation.",
          "Take the optical reading device the scanner with the other arm, obtain the target item the object with one arm, and apply the device to examine the object.",
          "Employ the other arm to acquire the detection apparatus the scanner, use one arm to hold the target item the object, and perform the examination operation.",
          "Use the other arm to lift the optical scanning device the scanner, hold the target item the object with one arm, and direct the device to examine the object.",
          "Grasp the reading apparatus the scanner using the other arm, secure the target object the object using one arm, and apply the apparatus to perform the examination.",
          "With the other arm, obtain the authentication apparatus the scanner, with one arm, secure the target item the object, and conduct the examination.",
          "Use the other arm to hold the scanning mechanism the scanner, use one arm to grasp the target object the object, and direct the mechanism to examine the item.",
          "Take hold of the optical apparatus the scanner with the other arm, hold the target item the object with one arm, and perform the examination operation.",
          "Employ the other arm to secure the detection device the scanner, use one arm to hold the target object the object, and apply the device to examine the object.",
          "Use the other arm to acquire the optical reading apparatus the scanner, grasp the target item the object with one arm, and perform the examination procedure.",
          "Grasp the scanning tool the scanner using the other arm, obtain the target object the object using one arm, and direct the tool to examine the item.",
          "Take the optical apparatus the scanner with the other arm, hold the target item the object with one arm, and conduct the examination operation.",
          "Employ the other arm to lift the detection apparatus the scanner, use one arm to hold the target item the object, and apply the apparatus to examine the object.",
          "Use the other arm to secure the optical device the scanner, grasp the target item the object with one arm, and perform the examination procedure.",
          "With the other arm, obtain the scanning apparatus the scanner, with one arm, hold the target object the object, and conduct the examination operation."
        ],
        "r3_reasoning": [
          "Ensure both arms are engaged such that the scanner is held by the other arm and the object is held by one arm, with the examination successfully completed.",
          "Verify that the optical apparatus the scanner has been used to examine the target item the object while being held by the respective arms.",
          "Establish a state where the object has been examined by the scanner with the other arm holding the apparatus and one arm holding the item.",
          "Confirm that the scanning operation has been completed with the scanner directed toward the object while both are securely held.",
          "Make certain that the target item the object has been successfully examined using the apparatus the scanner with appropriate arm engagement.",
          "Achieve a configuration where the scanner has performed the examination on the object with both items held in separate arms.",
          "Verify the examination has been successfully conducted with the scanner in the other arm's grasp and the object in one arm's grasp.",
          "Ensure that the dual-arm engagement has been maintained throughout the examination of the object by the scanner.",
          "Confirm that the object displays the scan results after being examined by the scanner using both designated arms.",
          "Establish that the examination task is complete with the scanner having scanned the object while held in their respective positions."
        ]
      },
      "sha256": "3aaed7f1fd5fd4bcb2f13788e3afc8f6a4bd236c7ed12dcda420d3427dee9802",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/scan_object.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/scan_object.py"
    },
    "task_instruction/stack_bowls_three": {
      "full_description": "stack the three bowls on top of each other",
      "schema": "{A} notifies the bowls",
      "pools": {
        "seen": [
          "Place the bowls {A} in a stacking order.",
          "Arrange {A} with the largest bowl at the base.",
          "Pick up {A} and stack them from biggest to smallest.",
          "Align bowls {A} in descending size, forming a stack.",
          "Position {A} one on top of the other largest to smallest.",
          "Grab {A}, stack from largest at the base to the smallest.",
          "Form a tower with bowls {A}, placing smallest last.",
          "Organize bowls {A} by stacking them in size order.",
          "Stack {A}, starting with the largest bowl at the bottom.",
          "Place {A} in a stack with the largest at the foundation.",
          "Place each {A} on top of the previous one.",
          "Grab {A}, arrange them vertically.",
          "Lift each {A} and stack them together neatly.",
          "Take {A}, stack them from bottom to top.",
          "Arrange {A} one on top of another.",
          "Stack {A} from the base up to the top.",
          "Carefully stack {A} piece by piece.",
          "Hold {A}, place them one after another.",
          "Start with the bottom {A} and finish stacking.",
          "Stack {A} by arranging them sequentially.",
          "Place the bottom {A}, then add the other two on top.",
          "Arrange all three {A} into a vertical stack.",
          "Grab a {A}, set it down, and stack the rest on it.",
          "Place the first {A} down, then stack the next two above it.",
          "Start with one {A}, and stack the other two on top.",
          "Arrange the three {A} by stacking them one over the other.",
          "Take the bottom {A} and sequentially pile the other two above.",
          "Pick each {A} and stack them in order one on top of another.",
          "Place one {A} down and carefully stack the others above it.",
          "Position the first {A}, and sequentially add the two above it.",
          "Place three {A} on top of each other.",
          "Use arms to stack each {A} carefully.",
          "Stack the {A} sequentially using your arms.",
          "Stack all three {A} directly on top of each other.",
          "Lift each {A} and stack it over the previous one.",
          "Sequentially stack {A} using arms to align them.",
          "Take each {A} and place them one by one on top.",
          "Align and stack the {A} step by step using arms.",
          "Stack the {A} without arms in a vertical sequence.",
          "Use arms to place each {A} atop the previous one.",
          "Place the first {A} down, then stack the remaining two.",
          "Position the second {A} over the first, then the third on top.",
          "Pick up each {A} and set them one over another.",
          "Stack all three {A} by placing one on top of another.",
          "Grab the first {A}, position the second, then add the third.",
          "Use the arm to stack the {A} one by one.",
          "Place the first {A}, then align the others on top using the arm.",
          "Start with the first {A}, adding the next two in sequence.",
          "Stack all {A} sequentially while handling one at a time.",
          "Align the second {A} atop the first, then add the third above."
        ],
        "unseen": [
          "Stack {A} by placing smallest on top.",
          "Put {A} in a pile, largest to smallest.",
          "Stack {A} together one by one.",
          "Start stacking {A} from the bottom to the top.",
          "Stack the three {A} one above the other.",
          "Position one {A} and stack two others on it.",
          "Grab {A}, stack them one by one.",
          "Stack the first {A}, then the second, then the third.",
          "Grab the first {A} and stack the others on top.",
          "Pick up the first {A} and layer the rest above it."
        ]
      },
      "sha256": "3a951b0188d8300e9137d627d426075665fcf5f2e3dfca9789683aeec8e7053b",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_bowls_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_three.py"
    },
    "task_instruction_plus/stack_bowls_three": {
      "full_description": "stack the three bowls on top of each other",
      "schema": "{A} notifies the bowls",
      "pools": {
        "r1_distraction": [
          "I was thinking about organizing the kitchen, but first place the serving vessels the bowls in a stacking order.",
          "Before we continue, could you arrange the bowls with the largest vessel at the base?",
          "By the way, I heard picking up the bowls and stacking them from biggest to smallest works well.",
          "Just a quick thought - align concave serving containers the bowls in descending size, forming a stack.",
          "While you're at it, position the bowls one on top of the other largest to smallest.",
          "Real quick - grab the bowls, stack from largest at the base to the smallest.",
          "Oh, one more thing - form a tower with concave vessels the bowls, placing smallest last.",
          "I almost forgot - organize serving containers the bowls by stacking them in size order.",
          "Before you continue, stack the bowls, starting with the largest at the bottom.",
          "Say, did you place the bowls in a stack with the largest at the foundation?",
          "Just occurred to me - place each the bowls on top of the previous one.",
          "Real quick interruption: grab the bowls, arrange them vertically.",
          "I was just thinking - lift each the bowls and stack them together neatly.",
          "Before we proceed, take the bowls, stack them from bottom to top.",
          "Quick thought - arrange the bowls one on top of another."
        ],
        "r2_commonsense": [
          "Acquire the set of concave serving containers the bowls and arrange them in a vertical configuration from largest to smallest.",
          "Position the three dimensional curved vessels the bowls in a stacking arrangement with the largest foundation vessel at the base.",
          "Take the concave serving implements the bowls and stack them sequentially from the largest at the bottom to the smallest on top.",
          "Arrange the curved container forms the bowls by positioning them vertically in descending size order.",
          "Organize the three concave vessels the bowls into a vertical arrangement, layering each one upon the previous.",
          "Stack the curved serving containers the bowls beginning with the largest foundation vessel, then progressively add the remaining vessels.",
          "Position the concave dimensional forms the bowls one above the other in order of descending size.",
          "Take the serving vessel collection the bowls and arrange them in a nested vertical formation.",
          "Assemble the three curved containers the bowls into a tower formation with proper size ordering.",
          "Arrange the concave implement set the bowls by layering them sequentially from bottom to top.",
          "Stack the vessel collection the bowls beginning with the primary foundational container and adding the secondary vessels above.",
          "Position each concave serving vessel within the bowls sequentially upon the previous one to form a tower.",
          "Organize the three serving containers the bowls into a vertical nested arrangement.",
          "Take the curved dimensional vessels the bowls and position them one over another in size order.",
          "Arrange the concave form collection the bowls with the largest at the foundation and progressively smaller vessels above.",
          "Stack the serving vessel set the bowls by placing the foundation container, then aligning the secondary containers above.",
          "Establish a vertical arrangement of the concave containers the bowls in descending size order.",
          "Position the three dimensional curved vessel set the bowls in a nested vertical configuration.",
          "Take the concave serving implement set the bowls and layer them sequentially in size order.",
          "Assemble the vessel collection the bowls into a tower with proper alignment and size ordering.",
          "Arrange the curved container set the bowls from the base foundation vessel to the smallest on top.",
          "Stack the concave dimensional forms the bowls by sequential layering from largest foundation to smallest apex.",
          "Position the serving vessel collection the bowls one above another in a complete vertical arrangement.",
          "Organize the three curved containers the bowls into a properly nested stacking formation.",
          "Take the concave vessel set the bowls and establish a vertical tower with descending size ordering."
        ],
        "r3_reasoning": [
          "Ensure that all three concave serving vessels are arranged in a complete vertical stack formation.",
          "Verify that the three containers are layered with the largest at the base and smallest on top.",
          "Make certain that each vessel in the bowls is properly positioned upon the previous one.",
          "Establish that the stacking arrangement displays proper size ordering from bottom to top.",
          "Confirm that the three concave forms are nested and aligned in a vertical tower configuration.",
          "Achieve the state where the bowls is fully assembled into a three-level vertical stack.",
          "Verify that all vessels are securely layered in their correct size-based positions.",
          "Ensure the stacking is complete with proper alignment throughout the tower.",
          "Make sure that the bowls displays a complete nested arrangement with descending sizing.",
          "Establish that the three concave vessels form a stable, properly ordered vertical stack."
        ]
      },
      "sha256": "effa284fb16f0acbbad682e4cb54f2b05e72346c0803a7f295557d24fc34bad1",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/stack_bowls_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_three.py"
    },
    "task_instruction/stack_blocks_three": {
      "full_description": "there are three blocks on the table, the color of the blocks is <red, green and blue>, <move the blocks to the center of the table>, and <stack the blue block on the green block, and the green block on the red block>",
      "schema": "{A} notifies the red block, {B} notifies the green block, {C} notifies the blue block, {a} notifies the arm to manipulate the red block, {b} notifies the arm to manipulate the green block, {c} notifies the arm to manipulate the blue block",
      "pools": {
        "seen": [
          "Shift {A}, {B}, {C} to the table's center, then stack {C} on {B}, and {B} on {A}.",
          "Stack {C} over {B} and {B} over {A} after moving all blocks to the center.",
          "Use {a}, {b}, {c} to place {A}, {B}, {C} at the center and stack them accordingly.",
          "Grab {A}, {B}, and {C} using {a}, {b}, {c}, move them to the center, then stack them.",
          "Move {A}, {B}, and {C} to the center using {a}, {b}, {c}, and stack them with {C} on top.",
          "Use {a}, {b}, and {c} to center {A}, {B}, and {C}, then stack {C} above {B} and {B} above {A}.",
          "Relocate {A}, {B}, and {C} to the center and stack {C} on {B} and {B} on {A}.",
          "Reposition {A}, {B}, and {C} to the middle and arrange {C} above {B} and {B} above {A}.",
          "Center {A}, {B}, and {C}, then stack them with {C} on {B} and {B} on {A}.",
          "Place {A}, {B}, and {C} at the center and stack {C} on {B}, then {B} on {A}.",
          "Place {A}, {B}, and {C} at the table's center; stack {C} over {B}, then {B} over {A}.",
          "Use {a}, {b}, and {c} to move {A}, {B}, {C} to the center and stack {C} on {B}, {B} on {A}.",
          "With {a}, {b}, and {c}, shift {A}, {B}, and {C} to the center and arrange {C} over {B}, {B} on {A}.",
          "Use arms {a}, {b}, and {c} to centralize {A}, {B}, {C} and stack {C} above {B}, then {B} above {A}.",
          "Centralize {A}, {B}, and {C} before stacking {C} on {B} and {B} on {A}.",
          "Move {A}, {B}, and {C} to the middle first, then stack {C} on {B} and {B} on {A}.",
          "Arrange {A}, {B}, and {C} in the table's center and stack {C} atop {B}, then {B} atop {A}.",
          "With {a}, {b}, {c}, position {A}, {B}, {C} at the table's center and stack {C} on {B}, {B} on {A}.",
          "Using {a}, {b}, {c}, place {A}, {B}, {C} centrally and stack {C} atop {B}, then {B} atop {A}.",
          "Position {A}, {B}, and {C} in the center and stack {C} on {B}, followed by {B} on {A}.",
          "Bring {A}, {B}, and {C} to the center and stack {B} over {A}, {C} over {B}.",
          "Use {a}, {b}, and {c} to move {A}, {B}, and {C} to the center, then stack {C} on {B} and {B} on {A}.",
          "Relocate {A}, {B}, and {C} to the center with {a}, {b}, {c}, and stack {C} on {B}, {B} on {A}.",
          "Shift {A}, {B}, and {C} to the center using {a}, {b}, {c}, then pile {C} on {B}, {B} on {A}.",
          "Move {A}, {B}, and {C} to the center and stack {B} on {A}, {C} on {B}.",
          "Bring {A}, {B}, and {C} to the table's center and arrange them by stacking {C} over {B} and {B} over {A}.",
          "Place {A}, {B}, {C} in the middle and stack them using {a}, {b}, {c}, {B} on {A}, {C} on {B}.",
          "Adjust {A}, {B}, {C} to the center and use {a}, {b}, {c} to stack {C} on {B}, {B} on {A}.",
          "Reposition {A}, {B}, and {C} to the center, stacking {B} on {A} and {C} on {B}.",
          "With {a}, {b}, {c}, move {A}, {B}, {C} to the center and stack {B} on {A}, {C} on {B}.",
          "Place {A}, {B}, and {C} at the center, then stack {C} onto {B} and {B} onto {A}.",
          "Gather {A}, {B}, and {C} at the table's center and stack {C} on {B}, then {B} on {A}.",
          "Move {A}, {B}, and {C} to the center of the table using {a}, {b}, and {c}, then stack them.",
          "Using {a}, {b}, and {c}, bring {A}, {B}, and {C} to the center and stack {C} on {B}, {B} on {A}.",
          "Transfer {A}, {B}, and {C} to the center with {a}, {b}, and {c}, stacking {C} on {B} and {B} on {A}.",
          "Bring {A}, {B}, and {C} to the center point and arrange them by stacking {C} atop {B} and {B} atop {A}.",
          "Relocate {A}, {B}, and {C} to the table's center, stacking {C} over {B} and {B} over {A}.",
          "Move {A}, {B}, and {C} to the middle and position {C} on {B}, {B} on top of {A}.",
          "Place {A}, {B}, and {C} at the center, using {a}, {b}, and {c} to stack {C} on {B} and {B} on {A}.",
          "Transfer {A}, {B}, and {C} to the center, arranging {C} on top of {B} and {B} on {A} with {a}, {b}, {c}.",
          "Position {A}, {B}, and {C} centrally. Place {B} on {A}, then set {C} on {B}.",
          "Move {A}, {B}, and {C} to the center. Stack {C} on {B} and {B} on {A}.",
          "Bring {A}, {B}, and {C} to the middle. Stack {B} onto {A} and {C} onto {B}.",
          "Use {a}, {b}, and {c} to move {A}, {B}, and {C} to the center and stack them.",
          "Bring {A}, {B}, and {C} to the center using {a}, {b}, and {c}. Stack {B} on {A}.",
          "Use {a}, {b}, and {c} to place {A}, {B}, and {C} in the center. Stack {C} on top.",
          "With {a}, {b}, and {c}, move {A}, {B}, and {C} centrally and stack {B} on {A}.",
          "Use {a}, {b}, and {c} to centralize {A}, {B}, and {C} and build a stack with them.",
          "Place {A}, {B}, and {C} in the center, then arrange {B} on {A} and {C} on {B}.",
          "Move {A}, {B}, and {C} to the table's center and stack {B} over {A}, {C} over {B}."
        ],
        "unseen": [
          "Move {A}, {B}, and {C} to the table's center and stack them.",
          "Transfer {A}, {B}, and {C} to the middle, then stack {C} over {B} and {B} over {A}.",
          "Move {A}, {B}, and {C} to the center, then stack {C} on {B} and {B} on {A}.",
          "Bring {A}, {B}, {C} to the table's center and stack them: {C} on {B}, {B} on {A}.",
          "Place {A}, {B}, and {C} at the table's center, then stack {C} on {B} and {B} on {A}.",
          "Move {A}, {B}, and {C} to the center, then stack {C} on {B}, and {B} on {A}.",
          "Move {A}, {B}, and {C} to the center of the table, then stack {C} on {B} and {B} on {A}.",
          "Bring {A}, {B}, and {C} to the center, stacking {C} on {B} and {B} on {A}.",
          "Bring {A}, {B}, and {C} to the table's center. Stack {B} on {A} and {C} on {B}.",
          "Move {A}, {B}, and {C} to the center, then stack {B} over {A} and {C} over {B}."
        ]
      },
      "sha256": "d6b05f79328f1f9e6fd0a9a47443c1169e402a9d6d60eefbaee2ef5b2033fac6",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_blocks_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_three.py"
    },
    "task_instruction_plus/stack_blocks_three": {
      "full_description": "there are three blocks on the table, the color of the blocks is <red, green and blue>, <move the blocks to the center of the table>, and <stack the blue block on the green block, and the green block on the red block>",
      "schema": "{A} notifies the red block, {B} notifies the green block, {C} notifies the blue block, {a} notifies the arm to manipulate the red block, {b} notifies the arm to manipulate the green block, {c} notifies the arm to manipulate the blue block",
      "pools": {
        "r1_distraction": [
          "I was thinking about reorganizing the workspace, but first shift the red block, the green block, the blue block to the table's center, then stack the blue block on the green block, and the green block on the red block.",
          "Before we continue, could you stack the blue block over the green block and the green block over the red block after moving all rectangular solid objects to the center?",
          "By the way, I heard using one arm, the other arm, one arm to place the red block, the green block, the blue block at the center and stack them accordingly works well.",
          "Just a quick thought - grab the red block, the green block, and the blue block using one arm, the other arm, one arm, move them to the center, then stack them.",
          "While you're at it, move the red block, the green block, and the blue block to the center using one arm, the other arm, one arm, and stack them with the blue block on top.",
          "Real quick - use one arm, the other arm, and one arm to center the red block, the green block, and the blue block, then stack the blue block above the green block and the green block above the red block.",
          "Oh, one more thing - relocate the red block, the green block, and the blue block to the center and stack the blue block on the green block and the green block on the red block.",
          "I almost forgot - reposition the red block, the green block, and the blue block to the middle and arrange the blue block above the green block and the green block above the red block.",
          "Before you continue, center the red block, the green block, and the blue block, then stack them with the blue block on the green block and the green block on the red block.",
          "Say, did you place the red block, the green block, and the blue block at the center and stack the blue block on the green block, then the green block on the red block?",
          "Just occurred to me - use one arm, the other arm, and one arm to move the red block, the green block, the blue block to the center and stack the blue block on the green block, the green block on the red block.",
          "Real quick interruption: with one arm, the other arm, and one arm, shift the red block, the green block, and the blue block to the center and arrange the blue block over the green block, the green block on the red block.",
          "I was just thinking - use arms one arm, the other arm, and one arm to centralize the red block, the green block, the blue block and stack the blue block above the green block, then the green block above the red block.",
          "Before we proceed, centralize the red block, the green block, and the blue block before stacking the blue block on the green block and the green block on the red block.",
          "Quick thought - move the red block, the green block, and the blue block to the middle first, then stack the blue block on the green block and the green block on the red block."
        ],
        "r2_commonsense": [
          "Shift the primary colored rectangular solid objects the red block, the green block, the blue block to the table's center point, then arrange the blue block atop the green block and the green block atop the red block.",
          "Reposition the trio of geometric solid forms the red block, the green block, the blue block to the center region, then construct a vertical arrangement with the blue block upon the green block and the green block upon the red block.",
          "Move the three dimensional rectangular objects the red block, the green block, the blue block toward the table's midpoint, then layer the blue block over the green block and the green block over the red block.",
          "Use one arm, the other arm, and one arm to bring the cubic forms the red block, the green block, the blue block to the central location and arrange them in a stepped formation.",
          "Transport the solid geometric shapes the red block, the green block, the blue block to the table center, then position the blue block above the green block and the green block above the red block to form a tower.",
          "Arrange the rectangular solid objects the red block, the green block, the blue block in the table's center region and construct a vertical stack with the blue block on the green block and the green block on the red block.",
          "With one arm, the other arm, and one arm, position the three solid forms the red block, the green block, the blue block at the table's center and layer the blue block atop the green block, then the green block atop the red block.",
          "Using one arm, the other arm, one arm, place the geometric objects the red block, the green block, the blue block centrally and arrange the blue block atop the green block, then the green block atop the red block.",
          "Position the solid rectangular objects the red block, the green block, the blue block in the center and layer the blue block on the green block, followed by the green block on the red block.",
          "Bring the three dimensional cubic forms the red block, the green block, the blue block to the center and arrange the green block over the red block, the blue block over the green block.",
          "Use one arm, the other arm, and one arm to move the geometric solids the red block, the green block, and the blue block to the center, then stack the blue block on the green block and the green block on the red block.",
          "Relocate the solid rectangular objects the red block, the green block, and the blue block to the center with one arm, the other arm, one arm, and arrange the blue block on the green block, the green block on the red block.",
          "Shift the cubic forms the red block, the green block, and the blue block to the center using one arm, the other arm, one arm, then construct a vertical arrangement with the blue block on the green block, the green block on the red block.",
          "Move the geometric solids the red block, the green block, and the blue block to the center and construct a layered formation with the green block on the red block, the blue block on the green block.",
          "Bring the rectangular objects the red block, the green block, and the blue block to the table's center and arrange them by layering the blue block over the green block and the green block over the red block.",
          "Place the solid cubic objects the red block, the green block, the blue block in the middle and arrange them using one arm, the other arm, one arm, the green block on the red block, the blue block on the green block.",
          "Adjust the geometric forms the red block, the green block, the blue block to the center and use one arm, the other arm, one arm to construct the blue block on the green block, the green block on the red block.",
          "Reposition the solid objects the red block, the green block, and the blue block to the center, constructing the green block on the red block and the blue block on the green block.",
          "With one arm, the other arm, one arm, move the cubic objects the red block, the green block, the blue block to the center and construct the green block on the red block, the blue block on the green block.",
          "Place the geometric solids the red block, the green block, and the blue block at the center, then layer the blue block onto the green block and the green block onto the red block.",
          "Gather the rectangular objects the red block, the green block, and the blue block at the table's center and arrange the blue block on the green block, then the green block on the red block.",
          "Move the solid forms the red block, the green block, and the blue block to the center of the table using one arm, the other arm, and one arm, then construct the vertical arrangement.",
          "Using one arm, the other arm, and one arm, bring the geometric objects the red block, the green block, and the blue block to the center and stack the blue block on the green block, the green block on the red block.",
          "Transfer the cubic solids the red block, the green block, and the blue block to the center with one arm, the other arm, and one arm, layering the blue block on the green block and the green block on the red block.",
          "Bring the solid objects the red block, the green block, and the blue block to the center point and arrange them by layering the blue block atop the green block and the green block atop the red block.",
          "Relocate the rectangular forms the red block, the green block, and the blue block to the table's center, layering the blue block over the green block and the green block over the red block."
        ],
        "r3_reasoning": [
          "Ensure that the red block, the green block, and the blue block are all positioned at the table's center with the green block resting on the red block and the blue block resting on the green block.",
          "Verify that the three rectangular solid objects have been arranged in a vertical stack configuration with the correct ordering.",
          "Make certain that the blue block is positioned above the green block, which is positioned above the red block, forming a complete three-level tower.",
          "Establish that all three geometric objects are centered on the table and properly stacked in the specified order.",
          "Confirm that the vertical arrangement has the red block as the base, the green block in the middle, and the blue block on top.",
          "Achieve the state where the red block, the green block, and the blue block are centrally located and stacked in their correct vertical positions.",
          "Verify that the rectangular objects have been relocated to the center and properly layered.",
          "Ensure the cubic forms are arranged with proper vertical alignment from base to top.",
          "Make sure that the blue block is fully supported by the green block, which is fully supported by the red block.",
          "Establish that the complete stacking configuration is achieved with all objects centered."
        ]
      },
      "sha256": "fa4421be0d391decc1ffbdc0f76aa25e92afba7de9b523c36f720c1f10b0e4e8",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/stack_blocks_three.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_three.py"
    },
    "task_instruction/hanging_mug": {
      "full_description": "Use left arm to pick the mug on the table, rotate the mug and put the mug down in the middle of the table, use the right arm to pick the mug and hang it onto the rack.",
      "schema": "{A} notifies the mug, {B} notifies the rack",
      "pools": {
        "seen": [
          "Use the left arm to grab {A}, rotate it, set it down, then hang {A} onto {B}.",
          "Lift {A}, turn it, place it back, and move it onto {B} with the right arm.",
          "Take {A}, rotate it, place it in the center, then hang it on {B}.",
          "Grab {A}, rotate it, place it in the middle, and hang it on {B}.",
          "Use your left arm to pick {A}, rotate it, set it down, and hang it onto {B}.",
          "Use the right arm to lift {A}, rotate it, and attach it to {B} after setting it down.",
          "Pick {A}, turn it, put it in the center, and transfer it to {B}.",
          "Lift {A} from the table, rotate it, place it in the middle, and hang it on {B}.",
          "Use the left arm to grab {A}, flip it, set it down, and then attach it to {B}.",
          "Take {A}, rotate it, place it back on the table, and hang it on {B} afterward.",
          "Using the left arm, pick {A}, turn it, place it down, and hang it on {B}.",
          "Pick {A} up, twist it, place it back, then hang it onto {B}.",
          "With the left arm, grab {A}, spin it, place it down, then use the right arm to hang it on {B}.",
          "Take {A}, rotate it, set it in the middle, then hang it on {B}.",
          "Using your left arm, lift {A}, rotate it, place it down, then your right arm to hang it onto {B}.",
          "Grab {A}, turn it around, put it back, then attach it to {B}.",
          "Lift {A}, twist it, set it back, and secure it onto {B}.",
          "Use the left arm to grab {A}, rotate it, place it down, and hang it onto {B} with the right arm.",
          "Take {A} from the table, spin it, place it in the center, then hang it on {B}.",
          "Pick {A} using your left arm, turn it, set it on the table, and hang it on {B} with the right arm.",
          "Grab {A}, rotate it, place it on the table, and hook it onto {B}.",
          "Use the left arm to pick {A}, turn it, place it, then hang on {B}.",
          "Pick {A} from the table using one hand, rotate, and hang it on {B}.",
          "Grab {A} from the table, rotate it, place it, and hang it onto {B}.",
          "Use your left arm to grab {A}, rotate it, set it down, then hang on {B}.",
          "Take {A} from the table, turn it, set it down, and attach it to {B}.",
          "With the left arm, pick {A}, rotate it, place it, then hang it onto {B}.",
          "Lift {A}, turn it around, set it in the middle, and place it on {B}.",
          "Use the left arm to lift {A}, rotate it, put it down, then hook onto {B}.",
          "Pick {A} from the table, rotate it, place it, and then hang it onto {B}.",
          "Pick {A}, turn it, and leave it in the table's center.",
          "Lift {A} with one arm, rotate, and drop it on the table.",
          "Pick {A}, rotate it, and place it in the table middle.",
          "Use one arm to grab {A}, rotate, and place it down.",
          "Lift {A}, rotate, and center it on the table.",
          "Take {A} with one arm, turn it, and set it in the center.",
          "Grab {A}, twist it, then place it on the table's center.",
          "Use one arm to move {A}, rotate it, and position it on the rack.",
          "Lift {A}, give it a turn, and hang it onto {B}.",
          "Take {A} with one arm, rotate it, and hang it onto {B}.",
          "Use the left arm to grab {A}, rotate it, place it in the middle, then use the right arm to hang it onto {B}.",
          "Lift {A} from the table, turn it, put it down in the middle, then hang it onto {B}.",
          "Take {A}, rotate it, set it on the table's center, then hang it onto {B}.",
          "Use your left arm to grab {A}, rotate it, place it in the middle, then use the right arm to hang it onto {B}.",
          "Pick up {A}, turn it, place it centrally, then hang {A} onto {B}.",
          "With the left arm, grab {A} from the table, rotate it, place it centrally, and with the right arm, hang it onto {B}.",
          "Grab {A}, rotate it, place it in the middle, and hang it onto {B}.",
          "Use one arm to grab {A}, turn it, set it centrally, and use the other to hang it onto {B}.",
          "Lift {A}, rotate it, put it down in the table's center, then hang it onto {B}.",
          "Take {A} from the table, rotate it, place it in the center, then hang it onto {B}."
        ],
        "unseen": [
          "Grab {A} from the table, rotate it, and set it in the center. Then hang {A} on {B}.",
          "Pick up {A}, rotate it, place it on the table, and hang it on {B}.",
          "Grab {A}, turn it, set it on the table, then hang it on {B}.",
          "Lift {A}, rotate it, put it down, then attach it to {B}.",
          "Pick {A} with the left arm, rotate, place it, then hang it on {B}.",
          "Lift {A} from the table, spin it, set it down, and hang it on {B}.",
          "Grab {A} from the table, rotate, and set it down.",
          "Use one arm for {A}, rotate, and place it on the table.",
          "Grab {A} on the table, rotate it, set it down in the middle, then hang it onto {B}.",
          "Pick {A} from the table, rotate it, place it in the middle, and hang it onto {B}."
        ]
      },
      "sha256": "e5bc861b815a35af4b278347de0ef1c0c3d3e0d1b3605e7fa9f7961dc4506c31",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/hanging_mug.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/hanging_mug.py"
    },
    "task_instruction_plus/hanging_mug": {
      "full_description": "Use left arm to pick the mug on the table, rotate the mug and put the mug down in the middle of the table, use the right arm to pick the mug and hang it onto the rack.",
      "schema": "{A} notifies the mug, {B} notifies the rack",
      "pools": {
        "r1_distraction": [
          "Hey, I know the room is a bit messy, but could you grab the mug, rotate it, place it in the center, and hang it on the rack?",
          "Before we take a break, please pick up the mug, rotate it, set it down in the middle, and then hang it onto the rack.",
          "The weather outside is lovely today, but right now I need you to grab the mug, rotate it, place it centrally, and hang it on the rack.",
          "I was just thinking about lunch, anyway, pick the mug, rotate it, place it in the center, and hang it onto the rack.",
          "By the way, when you get a moment, take the mug, rotate it, set it in the middle, and then hang it on the rack.",
          "Sorry to interrupt your idle mode, but please grab the mug, rotate it, place it down, and hang it onto the rack.",
          "I know we were discussing something else, but could you pick the mug, rotate it, place it centrally, and hang it on the rack?",
          "Oh, one more thing before I forget -- take the mug, rotate it, set it in the center of the table, and then hang it on the rack.",
          "This might seem random, but please grab the mug, rotate it, place it in the middle, and hang it onto the rack.",
          "While we are waiting for the next task, go ahead and pick the mug, rotate it, set it down, and hang it on the rack.",
          "I just remembered -- could you grab the mug, rotate it, put it centrally on the table, and hang it onto the rack?",
          "Not to change the subject, but please pick up the mug, rotate it, place it in the middle, and then hang it on the rack.",
          "Hey, quick favor: take the mug, rotate it, place it in the center, then hang it onto the rack.",
          "I know you have a lot going on, but when you can, grab the mug, rotate it, set it down in the middle, and hang it on the rack.",
          "Real quick before anything else, pick the mug, rotate it, place it in the center, and hang it on the rack."
        ],
        "r2_commonsense": [
          "Grasp the mug with the left gripper, spin it around, rest it in the table center, then suspend it from the rack.",
          "Seize the drinking vessel the mug, turn it over, deposit it centrally, and hook it onto the rack.",
          "Clutch the mug, revolve it, lay it down at the midpoint of the surface, and drape it over the rack.",
          "With the left manipulator, take hold of the mug, flip it, position it at the table's center, then mount it on the rack.",
          "Retrieve the cup the mug, give it a rotation, set it in the middle area, and suspend it on the rack.",
          "Use the left appendage to collect the mug, twist it, deposit it centrally, then fasten it to the rack.",
          "Lift the handled drinking container the mug, rotate it, place it at the center, and hook it over the rack.",
          "Secure the mug with one gripper, turn it, rest it mid-table, and attach it to the rack.",
          "Take hold of the ceramic cup the mug, spin it, lower it to the center, then hang it from the rack.",
          "Employ the left limb to fetch the mug, give it a turn, set it in the middle, and drape it on the rack.",
          "Grip the mug using the left arm, invert it, deposit it centrally on the work surface, and hook it on the rack.",
          "Pick up the beverage container the mug, revolve it, place it down mid-table, and suspend it from the rack.",
          "Use the left side to retrieve the mug, flip it around, lower it to center, and attach it to the rack.",
          "Clasp the cylindrical drinking vessel the mug, rotate it, rest it in the middle, then mount it on the stand the rack.",
          "With the left gripper, obtain the mug, twist it around, set it at the center point, and hook it onto the holder the rack.",
          "Collect the cup the mug, give it a spin, position it at the table midpoint, and hang it from the support the rack.",
          "Acquire the mug with the left manipulator, turn it, deposit it centrally, then drape over the rack the rack.",
          "Snag the mug, revolve it in place, lower it to the table center, and affix it to the rack.",
          "Hoist the mug using the left arm, rotate it, put it in the middle of the workspace, and hook it on the rack.",
          "Grasp the handled cup the mug, invert it, leave it at center-table, then fasten it onto the hanging structure the rack.",
          "Seize the mug with the left extremity, turn it over, place it in the central area, and suspend it on the rack.",
          "Fetch the drinking mug the mug, give it a twist, rest it in the middle, and mount it on the rack.",
          "Utilize the left arm to capture the mug, rotate it, deposit it in the center, then hook it to the rack.",
          "Take the ceramic vessel the mug, spin it, set it down centrally, and hang it from the support structure the rack.",
          "Employ one gripper to lift the mug, turn it, position it mid-table, then drape it over the peg on the rack."
        ],
        "r3_reasoning": [
          "Ensure that the mug ends up hanging securely from the rack after being rotated and repositioned.",
          "The goal is for the mug to be suspended on the rack, having first been rotated and placed in the center of the table.",
          "At the end, the mug should be hooked onto the rack, with no mug remaining on the table surface.",
          "Make sure the mug has been rotated and is now hanging from the rack.",
          "The desired outcome is the mug dangling from the rack after being picked up, rotated, and transferred.",
          "After completion, the mug should no longer be on the table but instead mounted on the rack.",
          "The final state should have the mug securely attached to the rack via its handle.",
          "Verify that the mug has been rotated, placed centrally, and ultimately hung onto the rack.",
          "By the end of the task, the mug must be suspended from the rack and the table center should be clear.",
          "The result should be the mug properly hooked and hanging from the rack."
        ]
      },
      "sha256": "37ef6422013e754f3ff0100d6622e15160dac17b17e46901474fe937dc7f1d71",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/hanging_mug.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/hanging_mug.py"
    },
    "task_instruction/put_object_cabinet": {
      "full_description": "use {a} to open the cabinet's drawer, and use another arm to put the object on the table to the drawer.",
      "schema": "{A} notifies the object, {B} notifies the cabinet (use 'the drawer of {B}' or '{B}'s drawer'), {a} notifies the arm to open the drawer. Another arm to put the object into the drawer use literal 'the other arm'",
      "pools": {
        "seen": [
          "Open {B}'s drawer and place {A} inside it.",
          "Access {B}'s drawer and set {A} inside.",
          "Use {a} to open the drawer of {B} and then the other arm to place {A} inside.",
          "Pull open {B}'s drawer with {a} and use the other arm to insert {A}.",
          "Pull open {B}'s drawer and put {A} inside.",
          "Open the drawer of {B} and place {A} into it.",
          "Use {a} to open {B}'s drawer before the other arm places {A} inside.",
          "With {a}, open {B}'s drawer and let the other arm drop {A} inside.",
          "Open {B}'s drawer and move {A} into it.",
          "Slide open {B}'s drawer and set {A} inside.",
          "Open {B}'s drawer and transfer {A} into it.",
          "Pull open the drawer of {B} and place {A} inside.",
          "Use {a} to open the drawer of {B} and let the other arm set {A} inside.",
          "Slide open {B}'s drawer with {a} and use the other arm to put {A} into it.",
          "Open {B}'s drawer and carefully drop {A} into it.",
          "Pull open the drawer of {B} and move {A} into it.",
          "With {a}, open the drawer of {B} and place {A} inside using the other arm.",
          "Use {a} to open {B}'s drawer, then transfer {A} into it with the other arm.",
          "Open the drawer of {B} and set {A} inside.",
          "Open {B}'s drawer and move {A} into it.",
          "Use {a} to slide open {B}'s drawer, then the other arm to put {A} in.",
          "Unlock the drawer of {B} and drop {A} into it.",
          "Use {a} to open {B}'s drawer and use another arm to stick {A} inside.",
          "Pull open {B}'s drawer and place {A} inside it.",
          "Use {a} to open the drawer of {B}, then use the other arm to set {A} inside.",
          "Slide out the drawer of {B} and stick {A} inside.",
          "With {a}, open {B}'s drawer, then place {A} in using another arm.",
          "Open the drawer of {B} and drop {A} inside.",
          "Use {a} to pull {B}'s drawer open and use the other arm to stick {A} inside.",
          "Slide open the drawer of {B} and set {A} into it.",
          "Pull open {B}'s drawer and place {A} into it.",
          "Open the drawer of {B} and move {A} into it.",
          "Use {a} to slide open {B}'s drawer, then use the other arm to transfer {A} inside.",
          "Unlock {B}'s drawer with {a} and set {A} inside using the other arm.",
          "Slide open {B}'s drawer and drop {A} inside.",
          "Pull open {B}'s drawer and place {A} inside.",
          "Use {a} to pull the drawer of {B} open and the other arm to put {A} inside.",
          "Open {B}'s drawer with {a} and place {A} inside using the other arm.",
          "Open the drawer of {B} and move {A} into the drawer.",
          "Pull {B}'s drawer open and transfer {A} into it.",
          "Slide open the drawer of {B} before putting {A} inside.",
          "Put {A} into {B}'s drawer once it is opened.",
          "Use {a} to slide open {B}'s drawer and move {A} in with the other arm.",
          "Place {A} inside the drawer of {B} after opening it using {a}.",
          "Open the drawer of {B} before placing {A} inside it.",
          "Set {A} into {B}'s drawer after opening it.",
          "Use {a} to open {B}'s drawer and drop {A} inside with the other arm.",
          "Slide open the drawer of {B} using {a} and place {A} into it with the other arm.",
          "Open {B}'s drawer first, then place {A} inside.",
          "Place {A} into the drawer of {B} after sliding it open."
        ],
        "unseen": [
          "Use {a} to open {B}'s drawer and the other arm to place {A} inside.",
          "Open {B}'s drawer with {a} and use the other arm to put {A} inside.",
          "Open the drawer of {B} with {a} and place {A} inside using the other arm.",
          "Use {a} to pull open {B}'s drawer and the other arm to move {A} into it.",
          "Open {B}'s drawer with {a} and place {A} inside using the other arm.",
          "Pull out the drawer of {B} and set {A} into it.",
          "Open the drawer of {B} with {a}, then the other arm places {A} inside.",
          "Open {B}'s drawer and set {A} inside with the other arm.",
          "Open {B}'s drawer using {a} and place {A} inside with the other arm.",
          "Set {A} in the drawer of {B} after opening it with {a}."
        ]
      },
      "sha256": "734f7c557b58a8a4588ebd4e431c6248aaebc7298cfa7e55ac74dc48d4ea1cb1",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/put_object_cabinet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_object_cabinet.py"
    },
    "task_instruction_plus/put_object_cabinet": {
      "full_description": "use {a} to open the cabinet's drawer, and use another arm to put the object on the table to the drawer",
      "schema": "{A} notifies the object, {B} notifies the cabinet (use 'the drawer of {B}' or '{B}'s drawer'), {a} notifies the arm to open the drawer. Another arm to put the object into the drawer use literal 'the other arm'",
      "pools": {
        "r1_distraction": [
          "Before we start, I was thinking about organization, but use one arm to open the cabinet's drawer and then the other arm to place the object inside.",
          "Hey, speaking of storage, pull open the drawer of the cabinet with one arm and use the other arm to insert the object.",
          "You know, I need to organize things, but open the cabinet's drawer and place the object inside it.",
          "Speaking of which, the space is limited, so use one arm to open the drawer of the cabinet and let the other arm drop the object inside.",
          "I was wondering about storage solutions, but pull open the cabinet's drawer and move the object into it.",
          "By the way, everything needs a place, so open the cabinet's drawer and transfer the object into it.",
          "Just so you know, I'll need to find things later, but use one arm to open the cabinet's drawer before the other arm places the object inside.",
          "Did you see the cabinet? Anyway, slide open the cabinet's drawer and set the object inside.",
          "The drawer looks roomy, but open the drawer of the cabinet and carefully drop the object into it.",
          "I've been thinking about cleanup, but use one arm to open the drawer of the cabinet, then transfer the object into it with the other arm.",
          "You know, everything should be stored properly, so open the cabinet's drawer and move the object into it.",
          "Speaking of proper storage, use one arm to slide open the cabinet's drawer, then the other arm to put the object in.",
          "I was reading about organization, so open the drawer of the cabinet and set the object inside.",
          "Did you check the space? Anyway, use one arm to open the cabinet's drawer and use another arm to stick the object inside.",
          "By the way, we need to be tidy, but pull open the cabinet's drawer and place the object inside it."
        ],
        "r2_commonsense": [
          "Use one arm to unlock the access portal of the cabinet and use the other arm to deposit the object inside.",
          "Open the storage compartment of the cabinet with one arm and transfer the object into it using the other arm.",
          "Use one arm to reveal the internal storage of the cabinet and place the object there with the other arm.",
          "Slide open the access panel the cabinet using one arm and position the object inside using the other arm.",
          "Use one arm to unlock the cabinet's storage compartment and the other arm to insert the object inside.",
          "Open the access point of the cabinet with one arm and drop the object inside using the other arm.",
          "Use one arm to extend the cabinet's hidden storage and transfer the object in using the other arm.",
          "Release the latch of the cabinet with one arm and place the object inside using the other arm.",
          "Use one arm to expose the cabinet's interior storage and move the object inside with the other arm.",
          "Open the enclosed storage of the cabinet with one arm and position the object in it using the other arm.",
          "Use one arm to unlock the access compartment the cabinet and the other arm to set the object inside.",
          "Slide open the cabinet's storage portal using one arm and place the object inside with the other arm.",
          "Use one arm to open the accessible section of the cabinet and drop the object in using the other arm.",
          "Unlock the cabinet's access area with one arm and transfer the object inside using the other arm.",
          "Use one arm to reveal the cabinet's internal compartment and position the object there with the other arm.",
          "Open the cabinet's access portal with one arm and move the object inside using the other arm.",
          "Use one arm to lift the storage barrier of the cabinet and place the object inside with the other arm.",
          "Slide the cabinet's storage open with one arm and insert the object using the other arm.",
          "Use one arm to unlock the cabinet's access and position the object inside with the other arm.",
          "Open the storage access of the cabinet using one arm and drop the object in with the other arm.",
          "Use one arm to extend the cabinet's storage compartment and transfer the object in using the other arm.",
          "Release the cabinet's access panel with one arm and place the object inside using the other arm.",
          "Use one arm to expose the cabinet's storage interior and move the object in with the other arm.",
          "Unlock the compartment of the cabinet with one arm and position the object inside with the other arm.",
          "Use one arm to open the cabinet's access area and set the object inside using the other arm."
        ],
        "r3_reasoning": [
          "Ensure the object ends up inside the drawer of the cabinet after the cabinet's drawer is opened.",
          "The goal is for the object to rest in the opened compartment of the cabinet.",
          "Make the object positioned inside the storage area of the cabinet.",
          "Guarantee that the object is placed in the cabinet's storage drawer.",
          "The desired outcome is the object safely stored in the drawer of the cabinet.",
          "Your task is to have the object end up inside the cabinet's drawer after it is opened.",
          "Achieve a state where the object is in the storage compartment of the cabinet.",
          "Position the object such that it is inside the drawer of the cabinet.",
          "The result should be the object in the cabinet's storage drawer.",
          "Make sure the object is properly stored in the drawer of the cabinet."
        ]
      },
      "sha256": "89b24ec07f09bc8528783c04096798ca3110c0cb4400af8935fbe7feb781a382",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/put_object_cabinet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/put_object_cabinet.py"
    },
    "task_instruction/blocks_ranking_size": {
      "full_description": "there are three blocks on the table, the color of the blocks is random, move the blocks to the center of the table, and arrange them from largest to smallest, from left to right",
      "schema": "{A} notifies the large size block, {B} notifies the medium size block, {C} notifies the small size block, {a} notifies the arm to grab large size block, {b} notifies the arm to grab medium size block, {c} notifies the arm to grab small size block",
      "pools": {
        "seen": [
          "Move {A}, {B}, and {C} to the center and align.",
          "Pick {A} first, {B} next, and {C} last, and arrange them.",
          "Take {A} with {a}, {B} with {b}, and {C} with {c} to the middle.",
          "Use {a}, {b}, and {c} to center {A}, {B}, and {C} in order.",
          "Center {A}, {B}, {C} with {a}, {b}, and {c} following size order.",
          "Shift {A}, {B}, and {C} to the center and align by size.",
          "Move {A}, {B}, and {C} to the table center in size order.",
          "Relocate {A}, {B}, and {C} to the center and arrange them by size.",
          "Pick {A}, {B}, and {C} sequentially and move them to the center.",
          "Use {a}, {b}, {c} to place {A}, {B}, and {C} by size at the center.",
          "Position {A}, {B}, then {C} at the center in size order.",
          "Grab {A}, {B}, {C}, move them, and arrange by size centrally.",
          "Shift {A}, {B}, {C} to the center; align by size left to right.",
          "Set {A} first, {B} second, and {C} third, ordered at the center.",
          "Grab {A}, place it, then {B} and {C}, arranging by size centrally.",
          "Position {A}, {B}, and {C} centrally, ordered from largest to smallest.",
          "Grab {A}, {B}, {C}, and arrange them in size order at the center.",
          "Move {A}, {B}, and {C} to the center, arranging them by size.",
          "Place {A}, {B}, {C} centrally and arrange largest to smallest.",
          "Grab {A}, {B}, and {C}, set them centrally, ordered by size.",
          "Using {a}, place {A} at the table's center-left.",
          "Set {B} next to {A} in the center using {b}.",
          "Place {C} right of {B} to complete the arrangement.",
          "Move the largest block to the center-left of the table.",
          "Using {b}, position {B} centrally, next to {A}.",
          "Arrange blocks {A}, {B}, and {C} in decreasing size order.",
          "Put {A}, {B}, and {C} in the center by size.",
          "Use {c} to move {C} next to {B} and complete the lineup.",
          "Move all blocks to the center and sort them by size.",
          "Using your tools, align {A}, {B}, {C} by size in the center.",
          "Arrange {A}, {B}, {C} in size order, largest on the left.",
          "Bring {A}, {B}, and {C} to the center, sorting largest to smallest.",
          "Transfer {A}, {B}, {C} to the center, aligning from largest to smallest.",
          "Use {a}, {b}, and {c} to arrange {A}, {B}, and {C} centrally by size.",
          "Grab {A}, {B}, {C} with {a}, {b}, {c} and organize them by descending size.",
          "Pick up {A} using {a}, move it to the center, followed by {B} and {C}.",
          "Align {A}, {B}, and {C} in the center by size, using {a}, {b}, and {c}.",
          "Place {A}, {B}, and {C} at the center and sort them from largest to smallest.",
          "Organize {A}, {B}, and {C} in the center of the table by size, largest first.",
          "Set {A}, {B}, and {C} in the center area, arranging from largest to smallest.",
          "Arrange {A}, {B}, and {C} by size at the center.",
          "Use {a}, {b}, and {c} to bring {A}, {B}, {C} to the center.",
          "Move {A} with {a}, {B} with {b}, and {C} with {c} to arrange them.",
          "Grab {A}, {B}, and {C} and align them by size at the center.",
          "Bring {A}, {B}, and {C} to the center using {a}, {b}, and {c}.",
          "Shift {A}, {B}, and {C} to the table's center and sort by size.",
          "Use {a}, {b}, and {c} to arrange {A}, {B}, {C} in order here.",
          "Align {A}, {B}, and {C} by size from left to right at the center.",
          "Move {A} with {a}, {B} with {b}, and {C} with {c} to sort them.",
          "Bring {A}, {B}, {C} to the table's center and position them left to right."
        ],
        "unseen": [
          "Place {A}, {B}, and {C} at the table center.",
          "Take {A}, {B}, and {C} to the table center.",
          "Place {A}, {B}, and {C} in order at the table's center.",
          "Move {A}, {B}, and {C} to the center, arrange left to right.",
          "Move {A}, {B}, and {C} to the table center.",
          "Arrange {A}, {B}, and {C} from largest to smallest.",
          "Place {A}, {B}, and {C} at the table center, largest to smallest.",
          "Move {A}, {B}, and {C} to the center, ordering largest to smallest.",
          "Place {A}, {B}, and {C} in order at the center.",
          "Move {A}, {B}, and {C} to the center table."
        ]
      },
      "sha256": "4ad638c230b384a1dab3e89a0f2b6f22b642ca6d78783737bbdfec6024cb47e0",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/blocks_ranking_size.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_size.py"
    },
    "task_instruction_plus/blocks_ranking_size": {
      "full_description": "there are three blocks on the table, the color of the blocks is random, move the blocks to the center of the table, and arrange them from largest to smallest, from left to right",
      "schema": "{A} notifies the large size block, {B} notifies the medium size block, {C} notifies the small size block, {a} notifies the arm to grab large size block, {b} notifies the arm to grab medium size block, {c} notifies the arm to grab small size block",
      "pools": {
        "r1_distraction": [
          "Hey, before we recalibrate the sensors, can you move the large block, the medium block, and the small block to the center and arrange them largest to smallest, left to right?",
          "I just got off the phone, but could you please center the large block, the medium block, and the small block on the table and sort them by size from left to right?",
          "The elevator is out of service today, anyway, place the large block, the medium block, and the small block in the table center from largest to smallest.",
          "Somebody spilled water in the hallway, but can you arrange the large block, the medium block, and the small block at the center, ordered by size left to right?",
          "I heard there's free cake in the break room, but first, move the large block, the medium block, and the small block to the center and sort largest to smallest.",
          "My phone keeps buzzing, sorry. Please take the large block, the medium block, and the small block to the center and arrange them by descending size.",
          "The janitor is coming by in an hour, but right now, center the large block, the medium block, and the small block in size order from left to right.",
          "Did you notice the new sign on the door? Anyway, line up the large block, the medium block, and the small block at the center from largest to smallest.",
          "I need to return this library book, but first, arrange the large block, the medium block, and the small block by size at the center of the table.",
          "The vending machine ate my dollar, but can you please move the large block, the medium block, and the small block to the center, largest to smallest?",
          "We have a team meeting later, but for now, center the large block, the medium block, and the small block and rank them by size from left to right.",
          "I wonder what's for lunch today. Anyway, bring the large block, the medium block, and the small block to the table center and arrange them from largest to smallest.",
          "There's a package at the front desk, but could you first move the large block, the medium block, and the small block to the center, sorted by size?",
          "The thermostat is set too high, but please move the large block, the medium block, and the small block to the table center, arranged largest to smallest from left to right.",
          "I left my badge at home today, but moving on, please center the large block, the medium block, and the small block in descending size order."
        ],
        "r2_commonsense": [
          "Relocate the three rectangular solids the large block, the medium block, and the small block to the middle of the surface and sort them by decreasing volume from left to right.",
          "Transfer the trio of cubes the large block, the medium block, and the small block to the table's midpoint and organize them from the biggest to the tiniest.",
          "Shift all three differently sized blocks the large block, the medium block, and the small block toward the center and rank them from the most voluminous to the least.",
          "Using one arm, the other arm, and one arm, carry the three objects the large block, the medium block, and the small block to the central area and order them by diminishing dimensions.",
          "Bring the largest solid the large block, the mid-sized solid the medium block, and the smallest solid the small block to the table's core and line them up from big to small.",
          "Convey the large block, the medium block, and the small block to the midpoint of the workspace and position them in descending magnitude from left to right.",
          "Gather the three differently proportioned cubes the large block, the medium block, and the small block at the table center, placing the biggest leftward and the smallest rightward.",
          "Deploy one arm, the other arm, and one arm to transport the large block, the medium block, and the small block to the middle area and array them by shrinking size.",
          "Centralize the large block, the medium block, and the small block on the work surface and establish a left-to-right sequence from the heaviest block to the lightest.",
          "Maneuver the trio of unequal blocks the large block, the medium block, and the small block to the center and orient them so size decreases from left to right.",
          "Pull the large block, the medium block, and the small block to the heart of the table and set them up in a gradient from biggest to smallest.",
          "Employ one arm, the other arm, and one arm to drag the large block, the medium block, and the small block centrally and distribute them in order of descending scale.",
          "Assemble the large block, the medium block, and the small block at the core of the surface, sequencing them from the bulkiest to the most compact left to right.",
          "Guide the large block, the medium block, and the small block to the table's central zone and establish a size-ranked lineup from largest on the left to smallest on the right.",
          "With one arm, the other arm, and one arm, reposition the large block, the medium block, and the small block into the middle section and file them from the biggest to the tiniest.",
          "Move the three objects of varying dimensions the large block, the medium block, and the small block to the center region and rank them from greatest to least in size.",
          "Relocate each block to the table's middle: the large block to the left, the medium block beside it, and the small block on the right, ordered by decreasing stature.",
          "Consolidate the blocks the large block, the medium block, and the small block at the center and organize them in a descending-size sequence from left to right.",
          "Using one arm, position the biggest piece the large block center-left, then use the other arm for the moderate piece the medium block in the center, and one arm for the smallest piece the small block center-right.",
          "Haul the large block, the medium block, and the small block to the table's midpoint and line them up so each subsequent block is smaller than the one to its left.",
          "Steer the large block, the medium block, and the small block to the central portion of the table and array them left to right from most massive to least massive.",
          "Collect the large block, the medium block, and the small block at the table center, establishing a row that progresses from the grandest block to the most petite.",
          "Use one arm, the other arm, and one arm to ferry the large block, the medium block, and the small block to the center and organize them in a tapering size order from left to right.",
          "Shepherd the large block, the medium block, and the small block to the middle of the work surface and install them in a line from widest to narrowest.",
          "Transport the three variably sized blocks the large block, the medium block, and the small block to the center and sort them left to right from largest to smallest."
        ],
        "r3_reasoning": [
          "Ensure that the large block, the medium block, and the small block are all at the center of the table, arranged in a row from largest to smallest going left to right.",
          "The goal is for the large block to occupy the left position, the medium block the center, and the small block the right, all at the table's center, reflecting descending size.",
          "By the end, the table center should display the large block, the medium block, and the small block in a single row with size decreasing from left to right.",
          "Make sure all three blocks have been moved to the center and ordered so the biggest is on the left and the smallest on the right.",
          "The desired state is the large block, the medium block, and the small block lined up centrally with each block smaller than the one to its left.",
          "Verify that the large block is the leftmost block at the center, the medium block is immediately to its right, and the small block is on the far right, all sorted by size.",
          "After completion, no blocks should remain at the table edges; all three should be centered and ranked from largest to smallest, left to right.",
          "The task succeeds when the center of the table holds a row of the large block, the medium block, and the small block in descending size order from left to right.",
          "Confirm that the blocks now form a size-ordered line at the table center with the large block being the largest on the left.",
          "The end result should show the large block, the medium block, and the small block consolidated at the table's center in a neat left-to-right arrangement from biggest to smallest."
        ]
      },
      "sha256": "8e93ef7798b9ff5d2a54a410cadf13a674daf94f34fb5efacb24d95d568233ab",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/blocks_ranking_size.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_size.py"
    },
    "task_instruction/lift_pot": {
      "full_description": "use BOTH!!! arms to lift the pot",
      "schema": "{A} notifies the pot. Arm comes as literal here.",
      "pools": {
        "seen": [
          "Hold {A} firmly, then lift.",
          "Use both arms to raise {A}.",
          "Secure {A} and lift upward.",
          "Place hands on {A}, then lift.",
          "Grasp {A} and elevate together.",
          "Lift {A} using both arms now.",
          "Engage arms to grip and lift {A}.",
          "With arms, raise {A} upward slowly.",
          "Hold {A} firmly and move upward.",
          "Lift {A} carefully using both arms.",
          "Use both arms to raise {A}",
          "Grab {A} and lift it upwards",
          "Pick up {A} with careful lifting",
          "Secure {A} and lift it up",
          "Raise {A} steadily using arms",
          "Lift {A} upward with both arms",
          "Take hold of {A} and lift up",
          "Support {A} and raise it upward",
          "Lift {A} up using your arms",
          "Raise {A} upward with both hands",
          "Raise {A} using both arms",
          "Bring {A} up together",
          "Hold {A} with both arms",
          "Lift {A} up together",
          "Raise {A} evenly with arms",
          "Bring {A} upwards together",
          "Grip {A} firmly and lift",
          "Hold and raise {A} together",
          "Lift {A} steadily using arms",
          "Raise and hold {A} together",
          "Hold {A} firmly with arms",
          "Securely lift {A} together",
          "Raise {A} with strong support",
          "Carry {A} securely using arms",
          "Grab {A} and lift together",
          "Both arms lift {A} upright",
          "Lift {A} carefully using arms",
          "Hold and raise {A} together",
          "Lift {A} steadily with support",
          "Raise {A} securely with arms",
          "Raise {A} together using arms",
          "Grab {A} and lift it up",
          "Hold {A} and lift upward",
          "Lift {A} upwards with care",
          "Grab {A} using both arms",
          "Use arms to lift {A} upward",
          "Pick up {A} with both arms",
          "Hold {A} firmly and lift it",
          "Lift {A} upward and hold it",
          "Raise {A} together with arms"
        ],
        "unseen": [
          "Grab {A} with both arms.",
          "Lift {A} upward using arms.",
          "Lift {A} using both arms",
          "Hold {A} firmly and lift it",
          "Lift {A} with both arms",
          "Together lift {A} up",
          "Use both arms for {A}",
          "Lift {A} using both arms",
          "Lift {A} with both arms",
          "Use both arms to lift {A}"
        ]
      },
      "sha256": "9b145355b15a87d72fa1561151d16d9a71faa242a3f287ffad546825c393f63b",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/lift_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/lift_pot.py"
    },
    "task_instruction_plus/lift_pot": {
      "full_description": "use BOTH!!! arms to lift the pot",
      "schema": "{A} notifies the pot. Arm comes as literal here.",
      "pools": {
        "r1_distraction": [
          "Hey, I know we were chatting, but could you use both arms to lift the pot?",
          "Before we move on to something else, please lift the pot with both arms.",
          "The lights are flickering again, but anyway, raise the pot using both arms.",
          "I was just thinking about dinner plans, but first, lift the pot with both arms.",
          "By the way, whenever you are ready, go ahead and lift the pot using both arms.",
          "Sorry to bother you mid-cycle, but please raise the pot with both arms now.",
          "I know this seems sudden, but use both arms to lift the pot right away.",
          "Oh, one more thing -- please grab the pot and lift it up with both arms.",
          "Random request here, but could you lift the pot using both arms?",
          "While we wait for the next batch, go ahead and lift the pot with both arms.",
          "Not to change the topic, but please use both arms to raise the pot.",
          "Quick task before we proceed: lift the pot with both arms.",
          "I just recalled -- could you lift the pot up using both arms?",
          "Hey, real quick, raise the pot with both of your arms.",
          "Forget what I said earlier, just use both arms to lift the pot."
        ],
        "r2_commonsense": [
          "Employ both manipulators to hoist the pot upward.",
          "Raise the cooking vessel the pot using both grippers.",
          "Elevate the pot by gripping it with both appendages.",
          "Use both limbs to pick up the large container the pot.",
          "Hoist the deep cooking container the pot with both arms.",
          "Lift the kitchen vessel the pot using dual grippers.",
          "With both extremities, raise the pot off the surface.",
          "Grip the cooking pot the pot on both sides and elevate it.",
          "Use two arms to hoist the pot from the table.",
          "Clutch the pot with both hands and pull it upward.",
          "Deploy both manipulators to raise the cookware the pot.",
          "Grasp the pot on each side and lift it together.",
          "Seize the round cooking vessel the pot and raise it with both arms.",
          "With dual grippers, pick up and elevate the pot.",
          "Engage both arms simultaneously to hoist the pot.",
          "Use paired appendages to raise the cylindrical container the pot.",
          "Lift the handled cookware the pot by gripping both sides.",
          "Jointly raise the pot off the work surface using both arms.",
          "Grab the pot from both flanks and move it upward.",
          "Employ two limbs to elevate the pot carefully.",
          "Together with both grippers, hoist the vessel the pot.",
          "Use dual arms to pick up the kitchen pot the pot.",
          "Clasp the pot with both manipulators and bring it up.",
          "Grab hold of the cooking container the pot and raise it using both arms.",
          "With both robotic arms, seize and elevate the pot."
        ],
        "r3_reasoning": [
          "Ensure the pot is elevated off the table, held securely by both arms.",
          "The goal is for the pot to be lifted and suspended above the surface.",
          "At the end, the pot should be raised off the table with both arms supporting it.",
          "Make sure the pot is no longer resting on the table but held aloft by both arms.",
          "The desired outcome is the pot being airborne, supported by both grippers.",
          "After this action, the pot must be hovering above the surface, gripped by both arms.",
          "Verify that the pot has been picked up and is held in the air by both arms.",
          "The final state should show the pot raised above the table with dual-arm support.",
          "By the end, the pot should be securely lifted off the table using both arms.",
          "The result should be the pot fully elevated and held stably by both manipulators."
        ]
      },
      "sha256": "aabe90c62c8f5066fd0986b166b6f46eb95e891da8c1333d16e7b94046d7e2cd",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/lift_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/lift_pot.py"
    },
    "task_instruction/adjust_bottle": {
      "full_description": "Pick up the bottle on the table headup with the correct arm",
      "schema": "{A} notifies the bottle, {a} notifies the arm to manipulate the bottle",
      "pools": {
        "seen": [
          "Lift {A} head-up from the table.",
          "Pick {A} up with {a} ensuring it stays head-up.",
          "Grab {A} from the table and hold it head-up.",
          "Utilize {a} to lift {A} while keeping it head-up.",
          "Lift {A} ensuring it remains upright.",
          "Grab {A} head-up using {a} from the table.",
          "Hold {A} head-up after lifting it.",
          "Use {a} to pick {A} up and keep it head-up.",
          "Pick {A} head-up and hold it steady.",
          "Use {a} to grab and lift {A} head-up.",
          "Grab {A} from the table with {a}",
          "Lift the bottle {A} headup from the table",
          "Raise {A} in a head-up position",
          "Use {a} to lift {A} head-up",
          "Position {A} head-up and lift it",
          "Grab {A} with {a} in a head-up way",
          "Lift the bottle {A} up from the table",
          "Pick {A} head-up using the right arm",
          "Grab {A} and lift it into a head-up position",
          "Use {a} to pick up {A} in the correct orientation",
          "Lift {A} from the table upright",
          "Use {a} to hold {A} from the table",
          "Identify {A} and grab it with {a}",
          "Pick {A} upright from the table",
          "Lift {A} using {a} and hold upright",
          "Take {A} from the table and keep upright",
          "Grab {A} and lift it with {a}",
          "Pick up {A} upright from the table",
          "Hold {A} upright after lifting with {a}",
          "Lift {A} from the table and secure upright",
          "Lift {A} from the table with {a}",
          "Pick {A} upright from the table",
          "Grab {A} and lift it upright",
          "Lift {A} head-up from the table",
          "Using {a}, pick {A} upright",
          "Secure {A} upright with {a}",
          "Hold {A} upright from the table",
          "Pick {A} and keep it upright",
          "Lift {A} upright carefully using {a}",
          "Carefully grab {A} head-up",
          "Pick up {A} from the table carefully.",
          "Use {a} to pick up {A} from the table.",
          "Locate {A} and lift it upright with {a}.",
          "Raise {A} from the table using the correct arm, {a}.",
          "Grab {A} and lift it upward from the table.",
          "Use the correct arm to pick up {A}.",
          "Lift {A} off the table and hold it upright.",
          "Pick up {A} from the table using {a}.",
          "Lift {A} from the table without mentioning the arm.",
          "Find {A} on the table and raise it using {a}."
        ],
        "unseen": [
          "Pick up {A} from the table head-up.",
          "Use {a} to grab {A} head-up.",
          "Use {a} to grab the bottle {A}",
          "Pick up {A} using the correct arm",
          "Grab {A} from the table with {a}",
          "Pick up {A} carefully using {a}",
          "Pick up {A} using {a} in an upright position",
          "Use {a} to grab {A} upright",
          "Lift {A} from the table using {a}.",
          "Grab {A} on the table and raise it."
        ]
      },
      "sha256": "fa82a82a7c64498407896ab171bf731eddd679bd2189b827404a8feb3ffb237b",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/adjust_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/adjust_bottle.py"
    },
    "task_instruction_plus/adjust_bottle": {
      "full_description": "Pick up the bottle on the table headup with the correct arm",
      "schema": "{A} notifies the bottle, {a} notifies the arm to manipulate the bottle",
      "pools": {
        "r1_distraction": [
          "Hey, before we start the next experiment, could you please pick the bottle up head-up from the table using one arm?",
          "I know we were just talking about the schedule, but when you get a chance, lift the bottle from the table and keep it upright.",
          "The weather is really nice today, but first, grab the bottle head-up using one arm.",
          "Oh by the way, I forgot to mention earlier -- please use one arm to pick up the bottle from the table in an upright position.",
          "So I was reading an article about robotics earlier, anyway, can you lift the bottle head-up off the table?",
          "Before I forget, the meeting got moved to 3pm, but right now please grab the bottle with one arm and hold it upright.",
          "I just got back from lunch, could you go ahead and pick the bottle up from the table head-up using one arm?",
          "Random thought -- I wonder how tall that shelf is. Anyway, please lift the bottle upright from the table.",
          "Sorry for the interruption, but could you use one arm to grab the bottle from the table and keep it head-up?",
          "I heard there might be a fire drill later, but for now, lift the bottle upright using one arm.",
          "Quick question before we move on: can you pick up the bottle head-up from the table with one arm?",
          "Not sure if you noticed the new poster on the wall, but please go ahead and grab the bottle upright from the table.",
          "The coffee machine is broken again, but in the meantime, please use one arm to lift the bottle head-up.",
          "I think someone left the lights on in the hallway. Anyway, grab the bottle from the table and hold it upright with one arm.",
          "We should organize the supply closet later, but first, pick up the bottle head-up from the table."
        ],
        "r2_commonsense": [
          "Grasp the container the bottle from the surface and keep it in an upright orientation using one arm.",
          "Lift the cylindrical vessel the bottle from the table in a cap-up position with one arm.",
          "Use one arm to raise the bottle off the surface while maintaining it in an upright stance.",
          "Retrieve the beverage container the bottle from the tabletop and hold it vertically using one arm.",
          "Employ one arm to seize the bottle from the flat surface and orient it with the opening facing up.",
          "Hoist the liquid holder the bottle from the workspace so the top faces upward using one arm.",
          "With one arm, clasp the bottle and elevate it from the table in a vertical position.",
          "Fetch the bottle from the table surface and sustain it in a cap-up orientation with one arm.",
          "Raise the narrow container the bottle from the table while ensuring the neck points up, using one arm.",
          "Use one arm to collect the bottle from the tabletop and maintain it standing straight.",
          "Acquire the bottle from the work surface and keep it oriented vertically using one arm.",
          "With one arm, snatch the bottle from the flat surface and position it so the top faces the ceiling.",
          "Clasp the vessel the bottle using one arm and remove it from the table in an erect position.",
          "Employ one arm to retrieve the bottle and hold it so the cap side faces upward.",
          "Seize the bottle off the table using one arm, ensuring the opening remains at the top.",
          "Pluck the bottle from the table with one arm and keep it in a standing orientation.",
          "Use one arm to take hold of the container the bottle and lift it from the surface vertically.",
          "Grip the bottle with one arm and raise it from the workspace in a top-up manner.",
          "Deploy one arm to carefully extract the bottle from the table while preserving its upright posture.",
          "Obtain the bottle using one arm, lifting it from the surface with the neck directed upward.",
          "Latch onto the bottle with one arm and hoist it from the table, keeping the top end up.",
          "Capture the bottle from the table using one arm and orient it so it stands tall.",
          "Using one arm, take the elongated container the bottle and raise it with the cap pointing skyward.",
          "Scoop up the bottle from the worktop with one arm, preserving its vertical alignment.",
          "With one arm, secure the bottle from the tabletop and maintain it in an erect configuration."
        ],
        "r3_reasoning": [
          "Ensure that the bottle is lifted off the table and held in an upright, head-up position by one arm.",
          "The goal is for the bottle to be grasped by one arm and oriented with its top facing upward, no longer resting on the table.",
          "Make sure the bottle ends up held by one arm in a vertical position with the cap on top.",
          "After this action, the bottle should be off the table, securely in one arm, and standing upright.",
          "The desired outcome is the bottle being removed from the table surface and maintained head-up by one arm.",
          "Verify that the bottle is no longer on the table and is instead held upright in one arm.",
          "The end state should be the bottle gripped firmly by one arm in an upright orientation above the table.",
          "Confirm that the bottle has been successfully lifted from the table by one arm and is oriented vertically.",
          "By the end, the bottle must be suspended in one arm with its top pointing upward and clear of the table surface.",
          "The task is complete when the bottle is in the grasp of one arm, positioned head-up, and elevated from the table."
        ]
      },
      "sha256": "13d899eb43678d6dd834743b0152dac8933935c4aa0eaa05b32cfb6c920d0055",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/adjust_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/adjust_bottle.py"
    },
    "task_instruction/beat_block_hammer": {
      "full_description": "there is a hammer and a block on the table, use the arm to <grab the hammer> and <beat the block>",
      "schema": "{A} notifies the hammer, {a} notifies the arm to grab the hammer",
      "pools": {
        "seen": [
          "Pick {A} and strike the block.",
          "Lift {A} using {a} to hit the block.",
          "Take {A} and smash the block.",
          "Employ {a} to grab {A} and hit.",
          "Hold {A} and pound the block.",
          "Utilize {a} to hold {A} and strike.",
          "Catch {A} and use it on the block.",
          "Grab {A} with {a} and beat the block.",
          "Grip {A} firmly and hit the block.",
          "Make {a} grab {A} and strike the block.",
          "Pick up {A} with {a}, strike the block.",
          "Lift {A}, then beat the block.",
          "Take {A} using {a}, hit the block.",
          "Grab {A}, then strike the block.",
          "With {a}, grab {A} and beat the block.",
          "Use {A} to hammer the block.",
          "With {a}, pick up {A} and strike the block.",
          "Grab {A} to beat the block.",
          "Pick up {A} using {a}, hammer the block.",
          "Lift {A} and hit the block.",
          "With {a}, grab {A} and hit the block",
          "Pick up {A} and strike the block",
          "Grab {A} using {a}, then beat the block",
          "Take {A} and hammer the block",
          "Grab {A} with {a} and hit the block",
          "Pick up {A} and use it on the block",
          "With {a}, grab {A} and hammer the block",
          "Take {A} and beat the block",
          "Grab {A} using {a} and strike the block",
          "Lift {A} and hit the block",
          "Beat the block after grabbing {A}",
          "Grab {A} with {a} and strike block",
          "Hold {A} then hit the block",
          "Grab {A} using {a} then pound block",
          "Pick {A} and smash the block",
          "Lift {A} with {a} then strike block",
          "Grab {A}, then hit the block",
          "Use {a} to grab {A} and beat block",
          "Take {A} and strike the block",
          "Grab {A} with {a} and hit block",
          "Use {a} to grab {A} and beat",
          "Grab {A} using {a} and hit the block",
          "Take {A} and strike the block",
          "Pick up {A} using {a} then beat",
          "Use {A} to beat after grabbing with {a}",
          "Grab {A} and use it to hit",
          "Use {a} to take {A} and strike",
          "Pick {A} with {a} and hit the block",
          "Take {A} and beat the block",
          "Pick {A} from the table and strike"
        ],
        "unseen": [
          "Grab {A} and beat the block.",
          "Use {a} to pick up {A}.",
          "Use {a} to grab {A}, beat the block.",
          "Grab {A} and hit the block.",
          "Grab {A} and beat the block",
          "Use {A} to strike the block",
          "Grab {A} and hit the block",
          "Use {a} to grab {A} then beat block",
          "Grab {A} and strike the block",
          "Pick {A} up and hit the block"
        ]
      },
      "sha256": "f2e419c385c80a3d8dac0bec0516b19eea6cdfa1985d754466afaff7211e8262",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/beat_block_hammer.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/beat_block_hammer.py"
    },
    "task_instruction_plus/beat_block_hammer": {
      "full_description": "there is a hammer and a block on the table, use the arm to <grab the hammer> and <beat the block>",
      "schema": "{A} notifies the hammer, {a} notifies the arm to grab the hammer",
      "pools": {
        "r1_distraction": [
          "Hey, quick favor -- could you grab the hammer with one arm and beat the block?",
          "I know it's almost break time, but first, pick up the hammer and strike the block.",
          "The lab results came back fine, anyway, use one arm to grab the hammer and hit the block.",
          "Before we wrap up for the day, please take the hammer and beat the block on the table.",
          "Someone left their jacket here, but moving on, grab the hammer using one arm and strike the block.",
          "Oh, I almost forgot -- please use one arm to pick up the hammer and beat the block.",
          "We need to order more supplies later, but right now grab the hammer and hit the block.",
          "The new equipment arrived this morning, by the way, take the hammer with one arm and beat the block.",
          "Not sure if it matters, but the door is unlocked. Anyway, grab the hammer and strike the block.",
          "I was just thinking about the weekend plans, but first, use one arm to grab the hammer and pound the block.",
          "There was a power outage earlier, but everything's fine now. Please pick the hammer up and beat the block.",
          "The printer is running low on paper, also, can you grab the hammer with one arm and strike the block?",
          "We should reorganize the workspace soon. For now, just take the hammer and beat the block.",
          "Interesting fact: hammers have been used for millennia. Speaking of which, grab the hammer and hit the block.",
          "I think the AC is too cold in here, but anyway, please use one arm to grab the hammer and beat the block."
        ],
        "r2_commonsense": [
          "Seize the striking tool the hammer with one arm and apply force to the rectangular solid.",
          "Use one arm to clutch the hammer and pound the cubic object on the table.",
          "Grasp the mallet the hammer using one arm and smash the solid block.",
          "Pick up the pounding instrument the hammer with one arm and hammer the block.",
          "Employ one arm to take hold of the hammer and deliver a blow to the block.",
          "With one arm, secure the impact tool the hammer and strike the rectangular piece.",
          "Retrieve the hammer using one arm and use it to batter the solid object.",
          "Latch onto the striking implement the hammer with one arm and thump the block.",
          "Use one arm to obtain the hammer and bring it down on the block.",
          "Grip the handled tool the hammer via one arm and rap the block forcefully.",
          "Acquire the percussive tool the hammer using one arm and whack the solid piece.",
          "Take the striking device the hammer in one arm and deliver an impact to the block.",
          "Clasp the hammer with one arm and use it to pummel the rectangular block.",
          "Collect the heavy-headed tool the hammer using one arm and slam it onto the block.",
          "With one arm, grab the blunt instrument the hammer and knock the block.",
          "Capture the hammer using one arm and drive it down onto the cubic object.",
          "Employ one arm to lift the hammer and bring it crashing into the block.",
          "Secure the handle-and-head tool the hammer with one arm and tap the block firmly.",
          "Hoist the hammer using one arm and swing it against the rectangular solid.",
          "Use one arm to snatch the hammer and administer a blow to the block.",
          "Wield the hammer via one arm and clobber the solid brick on the table.",
          "Fetch the impact instrument the hammer with one arm and wallop the block.",
          "Clutch the hammer in one arm and deliver a forceful strike to the cubic piece.",
          "Deploy one arm to pick up the hammer and bash the rectangular object.",
          "Obtain the hand-held striking tool the hammer with one arm and hit the solid block."
        ],
        "r3_reasoning": [
          "Ensure the block has been struck using the hammer held by one arm.",
          "The desired outcome is that the hammer has been used to deliver a blow to the block.",
          "Make sure the hammer is in the grasp of one arm and has made contact with the block.",
          "By the end, the block should have received an impact from the hammer wielded by one arm.",
          "The task is complete when one arm holds the hammer and the block has been hit.",
          "Verify that the hammer was picked up by one arm and subsequently used to beat the block.",
          "The end state should show the hammer in one arm and evidence that the block was struck.",
          "Confirm that the block on the table has been beaten using the hammer operated by one arm.",
          "After completion, the hammer should be held by one arm and the block should have been pounded.",
          "The goal is achieved when one arm has grabbed the hammer and applied it forcefully against the block."
        ]
      },
      "sha256": "29c54beabb9eb330b8aac6beeec6e129b7473e36c0e43a741476f15b1a1aacda",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/beat_block_hammer.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/beat_block_hammer.py"
    },
    "task_instruction/blocks_ranking_rgb": {
      "full_description": "<Place> the red block, green block, and blue block <in the order> of red, green, and blue from left to right, <placing in a row>.",
      "schema": "{A} notifies the red block, {B} notifies the green block, {C} notifies the blue block, {a} notifies the arm to grab red block, {b} notifies the arm to grab green block, {c} notifies the arm to grab blue block",
      "pools": {
        "seen": [
          "Set {A}, {B}, and {C} side by side in the order of {A}, {B}, then {C}.",
          "Use {a} to grab {A} and position it on the left, then {b} for {B}, and {c} for {C}.",
          "Grab {A} using {a}, {B} with {b}, and {C} with {c}, aligning them consecutively in a row.",
          "Start with {A}, followed by {B} and {C}, placing them in order left to right.",
          "Position {A}, {B}, and {C} from left to right in the specified sequence.",
          "Grab {A} with {a}, place it leftmost, then {B} using {b}, followed by {C} with {c}.",
          "Begin by placing {A} on the left, then add {B} to the right, and finish with {C}.",
          "Use {a} for {A}, then {b} for {B}, and {c} for {C}, arranging them left to right.",
          "Arrange {A}, {B}, and {C} in sequence from leftmost to rightmost positions.",
          "Pick up {A}, {B}, and {C sequentially and place them in a row from left to right.",
          "Position {A} first, followed by {B}, and end with {C} in a row from left to right.",
          "Grab {A}, place it on the leftmost spot, add {B} to the middle, and set {C} last.",
          "Arrange {A}, {B}, and {C} in a row using {a}, {b}, and {c}, keeping the left-to-right order.",
          "Pick up {A}, position it on the left, add {B} next to it, and finally set {C} on the far right.",
          "Use {a} to grab {A}, set it on the left, follow with {b} for {B}, and end with {c} for {C}.",
          "Arrange {A} at the left edge, {B} to the right of it, and {C} next to {B} forming a row.",
          "Pick up {A} using {a}, set it on the left, repeat the placement with {b} for {B}, and {c} for {C}.",
          "First, place {A} on the far left, then {B} in the middle, and finish with {C} on the right.",
          "Grab {A}, set it on the leftmost side, add {B} to its right, and complete with {C} on the far right.",
          "Using {a}, {b}, and {c}, arrange {A}, {B}, and {C} sequentially from left to right in a single row.",
          "Place {A} to the left, {B} in the middle, and {C} on the right in a linear fashion.",
          "Position {A} first, {B} second, and {C} third in a row from left to right.",
          "Using {a}, {b}, and {c}, arrange {A}, {B}, and {C} from left to right in the given order.",
          "With {a}, {b}, and {c}, place {A}, {B}, and {C} sequentially from left to right as red, green, blue.",
          "Arrange {A}, {B}, and {C} from left to right using {a}, {b}, and {c} in the order red, green, blue.",
          "First, grab {A}, then {B}, then {C} with {a}, {b}, and {c}, and place them in order left to right.",
          "Position {A}, {B}, and {C} on a surface from left to right in the order red, green, blue.",
          "Grab {A}, {B}, and {C}, and place them steadily from left to right in the order red, green, blue.",
          "Using {a}, {b}, and {c}, set {A}, {B}, and {C} from left to right in the sequence red, green, blue.",
          "Put {A} first, {B} next, and {C} last in a straight line from left to right, using {a}, {b}, and {c}.",
          "Grab and place {A} first, followed by {B}, and finish with {C} in a row.",
          "Position {A}, {B}, and {C} in a left-to-right sequence, forming a row.",
          "First, place {A}, then {B} beside it, and finally {C} next to {B}.",
          "Using {a}, {b}, and {c}, align {A}, {B}, and {C} in a row from left to right.",
          "Line up the objects in the order {A}, {B}, and {C}, starting from the left.",
          "Pick up {A}, {B}, and {C} in sequence and position them in a left-to-right row.",
          "Start with {A} on the left, add {B} next to it, and then place {C} on the right.",
          "{A}, then {B}, and finally {C} should be placed in a row from left to right.",
          "With {a}, {b}, and {c}, arrange {A}, {B}, and {C} sequentially in a horizontal row.",
          "Place {A} first, set {B} beside it, and complete the row by positioning {C}.",
          "Use {a} to place {A} on the left, then use {b} for {B} beside {A}, and finally {c} for {C} next to {B}.",
          "Grab {A}, position it on the left. Next, grab {B} to place beside {A}, then grab {C} and set it to the right of {B}.",
          "First, use {a} to grab {A} and place it on the left. Then grab {B} with {b} and position it next to {A}, followed by grabbing {C} with {c} and placing it next to {B}.",
          "Start with {A} on the left, followed by {B} next to {A}, and end with {C} on the far right.",
          "Pick {A} using {a}, place it far left. Then grab {B} with {b}, position next to {A}. Lastly, grab {C} using {c} and set right of {B}.",
          "Position {A} in the first spot, then set {B} to the right of {A}, and finish by placing {C} to the right of {B}.",
          "Move {A} with {a} to the far left, {B} with {b} just beside {A}, and finally {C} with {c} next to {B}.",
          "Start by grabbing {A}, place it on the leftmost side. Next, position {B} beside {A}, and finally set {C} to the right of {B}.",
          "Use {a} for {A} to set it leftmost, continue with {b} to position {B} next to {A}, and finish by placing {C} using {c} to the right of {B}.",
          "Place {A} first on the far left, {B} next to it, and {C} last on the far right."
        ],
        "unseen": [
          "Arrange {A}, {B}, and {C} from left to right in a row.",
          "Place {A}, {B}, and {C} sequentially in a row, starting with {A}.",
          "Place {A} on the left, then set {B} to its right and {C} next to {B}.",
          "Use {a} to arrange {A} first, then use {b} for {B}, and finally use {c} for {C} in a row.",
          "Set {A}, {B}, and {C} in a row from left to right in the order red, green, blue.",
          "Arrange {A}, {B}, and {C} in a row with {A} on the left, {B} in the middle, and {C} on the right.",
          "Set {A} on the left, then {B} in the center, and finally {C} on the right.",
          "Arrange {A}, {B}, and {C} side by side, starting with {A} on the left.",
          "Pick up {A}, set it on the left. Then grab {B}, position it next to {A}. Finally, place {C} to the right of {B}.",
          "Start by placing {A} to the left, followed by {B} next to {A}, and end with {C} on the far right."
        ]
      },
      "sha256": "7bafb690d8e02604d5726975946997d679005c655400ba48fdd46957855f19c3",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/blocks_ranking_rgb.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_rgb.py"
    },
    "task_instruction_plus/blocks_ranking_rgb": {
      "full_description": "<Place> the red block, green block, and blue block <in the order> of red, green, and blue from left to right, <placing in a row>.",
      "schema": "{A} notifies the red block, {B} notifies the green block, {C} notifies the blue block, {a} notifies the arm to grab red block, {b} notifies the arm to grab green block, {c} notifies the arm to grab blue block",
      "pools": {
        "r1_distraction": [
          "Hey, I just realized we're running low on workspace, but could you arrange the red block, the green block, and the blue block from left to right in a row?",
          "Before I head out to the meeting, please place the red block, the green block, and the blue block in order from left to right.",
          "The cafeteria is serving pizza today, but first, line up the red block, the green block, and the blue block left to right in a row.",
          "I was reading about color theory earlier -- anyway, arrange the red block on the left, the green block in the middle, and the blue block on the right.",
          "Someone left a coffee mug on the table, but please go ahead and set the red block, the green block, and the blue block in a row from left to right.",
          "We got new safety goggles, by the way. Now, please position the red block, the green block, and the blue block left to right in sequence.",
          "Oh, I forgot to water the plants. Anyway, use one arm, the other arm, and one arm to arrange the red block, the green block, and the blue block from left to right.",
          "The hallway lights are flickering again, but can you line up the red block, the green block, and the blue block from left to right?",
          "Just a heads up, there's a seminar at 4pm. For now, arrange the red block, the green block, and the blue block in a left-to-right row.",
          "I'm thinking about repainting this room, but first, place the red block, the green block, and the blue block left to right in a row.",
          "The Wi-Fi has been slow all morning, but please set up the red block, the green block, and the blue block in order from left to right.",
          "Did you see the news this morning? Anyway, arrange the red block first, then the green block, then the blue block from left to right.",
          "I need to submit a report later, but right now, place the red block, the green block, and the blue block in a row, left to right.",
          "The whiteboard markers are almost dry. Moving on, line up the red block, the green block, and the blue block from left to right.",
          "Not sure who ate my sandwich, but please arrange the red block, the green block, and the blue block sequentially from left to right."
        ],
        "r2_commonsense": [
          "Arrange the crimson cube the red block, the emerald cube the green block, and the azure cube the blue block in a horizontal line from left to right.",
          "Position the scarlet block the red block leftmost, the verdant block the green block in the middle, and the cobalt block the blue block rightmost.",
          "Line up the ruby-colored piece the red block, the forest-toned piece the green block, and the sky-colored piece the blue block sequentially from left to right.",
          "Using one arm, the other arm, and one arm, organize the warm-colored block the red block, the nature-colored block the green block, and the ocean-colored block the blue block in a row.",
          "Set the cherry-hued solid the red block on the left, the lime-hued solid the green block in the center, and the sapphire-hued solid the blue block on the right.",
          "Deploy one arm to place the first colored rectangular piece the red block leftward, the other arm for the second the green block centrally, and one arm for the third the blue block rightward.",
          "Organize the three colored cubes: the red block to the far left, the green block adjacent to it, and the blue block at the far right.",
          "Using one arm, the other arm, and one arm, align the trio of colored solids the red block, the green block, and the blue block in a straight horizontal arrangement.",
          "Situate the rose-tinted block the red block at the left edge, the grass-tinted block the green block in the midpoint, and the navy-tinted block the blue block at the right edge.",
          "Marshal the three rectangular solids the red block, the green block, and the blue block into a single file from the left side to the right side.",
          "Employ one arm to station the red block leftmost, the other arm to station the green block beside it, and one arm to station the blue block at the right end.",
          "Distribute the brightly colored blocks: place the warm-toned the red block first, the cool-green the green block second, and the cool-blue the blue block third from left to right.",
          "Arrange the primary-colored rectangular objects the red block, the green block, and the blue block laterally in sequence starting from the left.",
          "Order the three distinct-colored cubes from left to right: the red block first, the green block next, the blue block last.",
          "Place the fiery-colored solid the red block at position one, the leaf-colored solid the green block at position two, and the water-colored solid the blue block at position three from left to right.",
          "Station the red block on the leftmost mark, the green block on the center mark, and the blue block on the rightmost mark, forming a linear arrangement.",
          "With one arm, the other arm, and one arm, deposit the red block, the green block, and the blue block in a neat horizontal sequence from left to right.",
          "Lay out the three differently pigmented blocks side by side: the red block leftward, the green block centrally, the blue block rightward.",
          "Using the respective grippers one arm, the other arm, and one arm, slot the red block, the green block, and the blue block into a left-to-right lineup.",
          "Configure the three colored rectangular solids in a lateral row with the red block at the start and the blue block at the end.",
          "Position the trio of tinted blocks so that the red block occupies the left, the green block occupies the center, and the blue block occupies the right.",
          "File the three pigmented cubes into a neat row: the red block leads on the left, the green block follows in the middle, the blue block trails on the right.",
          "Assemble the red block, the green block, and the blue block into a straight formation, placing the red block at the leftmost position and the blue block at the rightmost.",
          "Form a horizontal sequence with the colored blocks: the red block on the far left, the green block next in line, the blue block on the far right.",
          "Methodically place the red block at the left boundary, the green block at the midpoint, and the blue block at the right boundary in a single row."
        ],
        "r3_reasoning": [
          "Ensure that the red block, the green block, and the blue block are positioned in a row from left to right in that exact order.",
          "The goal is for the red block to be on the far left, the green block in the middle, and the blue block on the far right, all in a single row.",
          "By the end, the three blocks should form a horizontal line with the red block leftmost, the green block center, and the blue block rightmost.",
          "Make sure the final arrangement shows the red block, the green block, and the blue block aligned left to right in sequence.",
          "The desired state is a neat row where the red block occupies the left position, the green block the center, and the blue block the right.",
          "Verify that the blocks are no longer scattered and instead form an ordered row: the red block, the green block, the blue block from left to right.",
          "After completion, the red block should be at the leftmost spot, the green block directly to its right, and the blue block at the far right.",
          "The end result must show all three blocks in a horizontal line with the red block preceding the green block and the green block preceding the blue block from left to right.",
          "Confirm that the workspace has the red block on the left, the green block adjacent on its right, and the blue block at the rightmost end, forming a row.",
          "The task succeeds when the red block, the green block, and the blue block are lined up in a single row reading left to right in that sequence."
        ]
      },
      "sha256": "763dcd9a0b0f14120606ab546ead2013133c33d050c99fa75cb01379470699a1",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/blocks_ranking_rgb.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/blocks_ranking_rgb.py"
    },
    "task_instruction/click_alarmclock": {
      "full_description": "click the alarm clock's center of the top side button on the table",
      "schema": "{A} notifies the alarm clock, {a} notifies the arm to click the alarm clock",
      "pools": {
        "seen": [
          "{a} clicks the center top button on {A}",
          "Locate and press the top button on {A}",
          "Activate {A} by pressing the top button",
          "Press the center top button on {A} with {a}",
          "Use {a} to click the center button on {A}",
          "Click the top center button of {A}",
          "Press the button on {A}'s top side",
          "{a} presses the center top button on {A}",
          "Ensure {a} clicks the top center button of {A}",
          "{a} activates {A} by clicking the top button",
          "Tap the center button on {A}.",
          "Click {A}'s top center button using {a}.",
          "Touch {A}'s button on the top side.",
          "Point {a} to press the button of {A}.",
          "Click the button centered on {A}.",
          "Use {a} to tap {A}'s central button.",
          "Press the top button at {A}'s center.",
          "Guide {a} to press the centered button on {A}.",
          "Tap the button at {A}'s top center.",
          "Direct {a} to click the button found on {A}.",
          "Click the center of {A}'s top",
          "Use {a} to press {A} button",
          "Use {a} to click the top of {A}",
          "Tap {A}'s top button with {a}",
          "Push the top button on {A}",
          "Activate {A} by pressing its top",
          "Use {a} to activate {A}'s button",
          "Press the center top button of {A}",
          "Push the center area of {A}'s top",
          "Use {a} to press the center top of {A}",
          "Use {a} to press {A}'s top button",
          "Press the top middle button of {A}",
          "Touch {A}'s center top button with {a}",
          "Locate and press {A}'s top center button",
          "Activate {A} by clicking its top button",
          "Push the top button of {A} using {a}",
          "Click the middle button on {A}'s top side",
          "Use {a} to tap {A}'s top button center",
          "Hit the center of {A}'s top button",
          "Press {A}'s top button using {a}",
          "Use {a} to press {A}'s top center button.",
          "Push the button on {A}'s top center.",
          "Press the center button on {A}'s top.",
          "Use {a} to tap {A}'s top center button.",
          "Click the button centered on {A}'s top.",
          "Press the top button in {A}'s center.",
          "Use {a} to click the top center button on {A}.",
          "Push the central button on {A}'s top side.",
          "Use {a} to press the central button on {A}.",
          "Click the center button on {A}'s top side."
        ],
        "unseen": [
          "Click the center top button of {A}",
          "Press the top button on {A}",
          "Press the top center of {A}.",
          "Use {a} to click {A}'s top center button.",
          "Click the top button of {A}",
          "Press {A}'s center top button",
          "Click the top button of {A}",
          "Tap the center top button of {A}",
          "Press {A}'s top center button.",
          "Click the central top button on {A}."
        ]
      },
      "sha256": "46cc55f23d3224ff3bbdd5958b90d23fba6f2dbda0ac72471e0c5744697e0424",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/click_alarmclock.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_alarmclock.py"
    },
    "task_instruction_plus/click_alarmclock": {
      "full_description": "click the alarm clock's center of the top side button on the table",
      "schema": "{A} notifies the alarm clock, {a} notifies the arm to click the alarm clock",
      "pools": {
        "r1_distraction": [
          "Hey, I just noticed the time, could you press the top center button on the alarm clock using one arm?",
          "Before we head out, please click the center top button on the alarm clock.",
          "The room feels a bit stuffy, but anyway, use one arm to press the alarm clock's top center button.",
          "I need to check my email soon, but first, click the top button of the alarm clock using one arm.",
          "Someone left a pen on the floor, but could you press the center of the alarm clock's top button?",
          "The whiteboard needs erasing later, but right now, use one arm to click the top center button on the alarm clock.",
          "I think there's a meeting at noon. Anyway, press the alarm clock's top center button with one arm.",
          "Oh, I forgot to lock my bike. Could you go ahead and click the center top button of the alarm clock?",
          "Not sure what time it is, ironically, but please use one arm to press the top button on the alarm clock.",
          "The window is open, by the way. Now, click the center of the alarm clock's top side button.",
          "We should rearrange the furniture later, but for now, press the alarm clock's top center button using one arm.",
          "I just remembered I need to call someone, but first, click the alarm clock's top button with one arm.",
          "The projector needs a new bulb, but can you press the center top button on the alarm clock?",
          "There might be leftover food in the fridge, anyway, use one arm to click the top center of the alarm clock.",
          "My glasses are somewhere around here, but please press the top center button on the alarm clock with one arm."
        ],
        "r2_commonsense": [
          "Depress the uppermost central switch on the timepiece the alarm clock using one arm.",
          "Use one arm to push the topside actuator at the center of the time-keeping device the alarm clock.",
          "Tap the central knob on the upper surface of the wake-up device the alarm clock with one arm.",
          "Engage the top-mounted control at the center of the ticking appliance the alarm clock using one arm.",
          "With one arm, trigger the button located at the apex of the portable clock the alarm clock.",
          "Press down on the central protrusion atop the bedside timer the alarm clock using one arm.",
          "Use one arm to actuate the switch on the crown of the ringing timepiece the alarm clock.",
          "Employ one arm to depress the top-center mechanism on the desk clock the alarm clock.",
          "Activate the topmost button in the middle of the buzzing time device the alarm clock with one arm.",
          "With one arm, push the centered control on top of the morning alert device the alarm clock.",
          "Strike the top-center toggle on the tabletop chronometer the alarm clock using one arm.",
          "Employ one arm to interact with the upper central key on the time-display gadget the alarm clock.",
          "Use one arm to make contact with the protruding switch at the top of the alarm clock.",
          "Deploy one arm to hit the crown button centered on the time-announcing device the alarm clock.",
          "Push the raised control at the alarm clock's topmost center point with one arm.",
          "Apply downward pressure on the mid-top activation point of the wake-up clock the alarm clock via one arm.",
          "With one arm, contact the central top-side trigger of the sound-producing timekeeper the alarm clock.",
          "Engage the elevated button at the midpoint of the alarm clock's top surface using one arm.",
          "Depress the uppermost centered mechanism of the tabletop timer the alarm clock via one arm.",
          "Use one arm to toggle the apex switch positioned centrally on the alarm clock.",
          "Stimulate the top-center input on the alarm-capable timepiece the alarm clock with one arm.",
          "Direct one arm to press the protruding control at the center top of the clock the alarm clock.",
          "Using one arm, activate the topside center actuator on the time-measuring instrument the alarm clock.",
          "Guide one arm to push the button situated at the highest central point of the alarm clock.",
          "With one arm, apply force to the crown-mounted central button on the alert clock the alarm clock."
        ],
        "r3_reasoning": [
          "Ensure that the top center button on the alarm clock has been fully pressed by one arm.",
          "The goal is for the alarm clock's top center button to have been actuated by one arm.",
          "Make sure the alarm clock's upper central button is in a depressed state after one arm contacts it.",
          "By the end, one arm should have successfully clicked the center button on top of the alarm clock.",
          "The desired outcome is that the alarm clock has been activated through its top center button via one arm.",
          "Verify that one arm has made contact with and pressed the alarm clock's top center button.",
          "After this action, the alarm clock's top center button should have been triggered by one arm.",
          "The task is complete when the center button on the upper face of the alarm clock has been depressed by one arm.",
          "Confirm that one arm applied downward force on the center of the alarm clock's top button, activating it.",
          "The end state should reflect that the alarm clock's top-center control has been engaged by one arm."
        ]
      },
      "sha256": "7bd06262aee95e8816a0a17641a638992b6b4e322ade77be95bb7b07f7619ba6",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/click_alarmclock.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_alarmclock.py"
    },
    "task_instruction/click_bell": {
      "full_description": "click the <bell's top center> on the table",
      "schema": "{A} notifies the bell, {a} notifies the arm to click the bell",
      "pools": {
        "seen": [
          "Press <bell's top center> using {a} on the table",
          "Instruct {a} to press <bell's top center>",
          "Push <bell's top center> on the table",
          "Click {A}'s <top center> using {a}",
          "Make {a} press <bell's top center>",
          "Press the <bell's top center> directly",
          "Direct {a} to click <bell's top center>",
          "Push {A}'s <top center> on the table",
          "Click <bell's top center> using {a}",
          "Press <bell's top center> placed on the table",
          "Press the center top of {A}.",
          "Command {a} to press {A}'s top.",
          "Click at the bell's top center.",
          "Direct {a} to touch {A}'s top.",
          "Press down on the bell's top.",
          "Guide {a} to click the bell's top.",
          "Click the designated center of {A}.",
          "Request {a} to press the bell's top.",
          "Press the specified top area of {A}.",
          "Ask {a} to interact with {A}'s top.",
          "Press the center of {A} using {a}.",
          "Click the bell's center on the table.",
          "Tap {A}'s top center with {a}.",
          "Tap the top center of {A}.",
          "Press {A}'s top center on the table.",
          "Click using {a} on {A}'s center.",
          "Push the center of {A} using {a}.",
          "Push the bell's center on the table.",
          "Press down {A}'s top center gently.",
          "Press down the top of {A} using {a}.",
          "Click the top center of {A} on table.",
          "Direct {a} to click the top of {A}.",
          "Pinpoint {A} and click its top center.",
          "Have {a} click at {A}'s top center.",
          "Press the top center of {A} on table.",
          "Make {a} interact with {A}'s top center.",
          "Click {A} at its top center on table.",
          "Guide {a} to click {A}'s top center.",
          "Locate {A} and click its top center.",
          "Use {a} to press {A}'s top section.",
          "Engage the top center of the bell.",
          "Click {A}'s top center using {a}.",
          "Press the bell's top center on the table.",
          "Tap {A}'s top center with {a}.",
          "Touch the bell at its top center.",
          "Use {a} to touch {A}'s top center.",
          "Engage the bell's top center gently.",
          "Activate {A} by pressing its top center.",
          "Press {A}'s top center with {a} firmly.",
          "Tap the bell's top center on the table."
        ],
        "unseen": [
          "Click the <bell's top center> on the table",
          "Tap the <bell's top center> placed on the table",
          "Click the top center of {A}.",
          "Direct {a} to click {A}'s top.",
          "Click {A}'s top center on the table.",
          "Use {a} to press {A}'s top center.",
          "Find {A} and click its top center.",
          "Use {a} to press {A}'s top center.",
          "Click the bell at its top center.",
          "Use {a} to press {A}'s top center."
        ]
      },
      "sha256": "226f74cb0691ab1954cf77ac1a7672afb1d709525f22e5dbe17f8ed3ae247f39",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/click_bell.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_bell.py"
    },
    "task_instruction_plus/click_bell": {
      "full_description": "click the <bell's top center> on the table",
      "schema": "{A} notifies the bell, {a} notifies the arm to click the bell",
      "pools": {
        "r1_distraction": [
          "Hey, could you do me a quick favor and press the top center of the bell on the table?",
          "Before we start the next task, please click the bell's top center.",
          "The lights in the hallway are too bright, but anyway, use one arm to press the top center of the bell.",
          "I think someone is at the door, but first, click the bell's top center on the table.",
          "We're running low on sticky notes, but can you press the top center of the bell using one arm?",
          "Oh, I left my lunch in the car. Anyway, go ahead and tap the bell's top center.",
          "The printer is making weird noises again, but could you click the top center of the bell?",
          "I need to update the spreadsheet later, for now, press the top center of the bell with one arm.",
          "Not sure if the meeting was canceled, but please click the bell's top center on the table.",
          "There's a funny smell in the break room, anyway, use one arm to press the bell's top center.",
          "My pen just ran out of ink, but could you click the bell's top center?",
          "The recycling bin is full, but right now, press the top center of the bell on the table.",
          "I heard the building might close early, but please tap the bell's top center using one arm.",
          "Someone parked in my spot again, but moving on, click the top center of the bell.",
          "The forecast says rain tomorrow, anyway, use one arm to click the bell's top center."
        ],
        "r2_commonsense": [
          "Depress the apex of the dome-shaped chime the bell using one arm.",
          "Use one arm to tap the uppermost central point of the metallic ringer the bell.",
          "Strike the crown of the call signal device the bell with one arm.",
          "With one arm, push down on the top of the service chime the bell.",
          "Press the topmost point of the dinging instrument the bell using one arm.",
          "Employ one arm to contact the top center of the reception signal the bell.",
          "Use one arm to apply force to the upper dome of the ringing device the bell.",
          "Trigger the sound-producing device the bell by pressing its top center with one arm.",
          "With one arm, activate the desk chime the bell by tapping its highest point.",
          "Direct one arm to push the central crest of the resonant metal device the bell.",
          "Press the convex top portion of the tabletop ringer the bell via one arm.",
          "Engage the summit of the hemispherical sound maker the bell using one arm.",
          "Use one arm to push the raised center of the attention-getting device the bell.",
          "Tap the pinnacle of the counter chime the bell with one arm.",
          "Apply downward pressure on the curved top of the signal instrument the bell using one arm.",
          "With one arm, hit the top-center area of the desk-mounted ringer the bell.",
          "Guide one arm to strike the upper midpoint of the acoustic device the bell.",
          "Deploy one arm to make contact with the domed top of the notification device the bell.",
          "Use one arm to ring the tabletop sound device the bell by pressing its top.",
          "Actuate the chiming instrument the bell by depressing its topmost center using one arm.",
          "With one arm, rap the central top surface of the call-summoning device the bell.",
          "Use one arm to push on the peak of the hand-operated ringer the bell.",
          "Engage the rounded top of the concierge signal the bell with one arm.",
          "Direct one arm to depress the crown of the alerting device the bell on the table.",
          "Employ one arm to activate the bell by pressing firmly on its domed top center."
        ],
        "r3_reasoning": [
          "Ensure that the bell's top center has been pressed by one arm and the bell has been activated.",
          "The goal is for the bell to have been clicked at its top center, producing a response.",
          "Make sure one arm has successfully made contact with the top center of the bell.",
          "By the end, the bell's top center should have been pressed down by one arm.",
          "The desired outcome is that one arm has triggered the bell by pressing its top center.",
          "Verify that the top center of the bell has been depressed and the bell has been engaged.",
          "After completion, the bell should show evidence of having been pressed at its top center by one arm.",
          "The task succeeds when one arm has clicked the top center of the bell on the table.",
          "Confirm that one arm has applied pressure to the bell's top center, completing the click action.",
          "The end state should be that the bell has been activated through a press on its top center by one arm."
        ]
      },
      "sha256": "5e779fa04b46cd9b8aa06dc9731b2ba8791471d3befab867b0909a5c9e88455f",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/click_bell.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/click_bell.py"
    },
    "task_instruction/dump_bin_bigbin": {
      "full_description": "Grab the small bin and pour the balls into the big bin",
      "schema": "{A} notifies the small bin",
      "pools": {
        "seen": [
          "Grab {A} and empty it into the bin.",
          "Take {A} and pour the balls out.",
          "Hold {A} and dump its balls.",
          "Use the arm to move {A} and pour.",
          "Direct the arm to grab {A} and tilt.",
          "Control the arm to raise {A} and pour.",
          "Use the arm to empty {A} into the bin.",
          "Move the arm, take {A}, and pour.",
          "Grab and tilt {A} to empty the balls.",
          "Raise {A} to dump its contents out.",
          "Lift {A} and pour balls into the bin.",
          "Use the arm to grab {A} and pour.",
          "Take {A} and empty balls into the bin.",
          "Grab {A}, then pour balls into the bin.",
          "Pick up {A} using the arm, pour balls.",
          "Lift {A} using the arm to pour balls.",
          "Take hold of {A} and dump the balls.",
          "Use the arm to lift {A} and empty it.",
          "Grab {A} and transfer balls to the bin.",
          "Lift {A} and pour its contents into bin.",
          "Pick up {A}, empty into the big bin",
          "Lift {A}, pour contents into big bin",
          "Use arm to pick {A}, pour in bin",
          "Grab {A} with arm and pour contents",
          "Hold {A}, dump balls in big bin",
          "Use arm to grab {A}, dump contents",
          "Pick {A} up, pour all balls inside bin",
          "Take {A} using arm, pour contents inside",
          "Lift {A}, pour the balls into big bin",
          "Hold {A} and pour all balls into bin",
          "Hold {A}, then pour contents.",
          "Grab {A} and pour it out.",
          "Lift {A}, pour into the big bin.",
          "Pour balls from {A} into the bin.",
          "Take {A} and empty its contents.",
          "Grab {A}, pour its contents away.",
          "Lift {A} and pour contents down.",
          "Use {A} to pour the balls out.",
          "Pick up {A} and pour into bin.",
          "Pick {A}, pour its contents out.",
          "Take {A} and pour contents.",
          "Lift {A}, then pour the balls.",
          "Grab {A} and transfer balls.",
          "Pick up {A} and pour carefully.",
          "Take hold of {A}, pour contents.",
          "Secure {A} and pour the balls.",
          "Grasp {A} and empty it out.",
          "Hold {A} and pour the balls.",
          "Lift up {A}, then pour balls.",
          "Take {A} and pour the balls."
        ],
        "unseen": [
          "Pick up {A} and pour it.",
          "Lift {A} and transfer the contents.",
          "Grab {A} and pour the balls.",
          "Pick up {A}, pour balls into the bin.",
          "Grab {A} and pour into big bin",
          "Take {A} and empty into big bin",
          "Take {A} and empty it.",
          "Pour {A} into the big bin.",
          "Grab {A} and pour balls.",
          "Lift {A} and empty it."
        ]
      },
      "sha256": "cbd1922bc3b793289acb349b77061ec9a668e922403323162aee2ae1420148de",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/dump_bin_bigbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/dump_bin_bigbin.py"
    },
    "task_instruction_plus/dump_bin_bigbin": {
      "full_description": "Grab the small bin and pour the balls into the big bin",
      "schema": "{A} notifies the small bin",
      "pools": {
        "r1_distraction": [
          "Hey, before you take a break, could you grab the small bin and pour the balls into the big bin?",
          "I know we have a lot going on today, but please pick up the small bin and dump its contents into the big bin.",
          "The floor could use some sweeping, but first, lift the small bin and pour the balls into the large bin.",
          "Someone left the light on in the other room. Anyway, grab the small bin and empty the balls into the big bin.",
          "I should probably charge my laptop soon, but right now, take the small bin and pour its balls into the big bin.",
          "Did you hear about the new policy? Anyway, grab the small bin and transfer the balls to the big bin.",
          "There are some boxes to move later, but for now, pick up the small bin and pour the balls into the large bin.",
          "The clock on the wall seems fast, but could you grab the small bin and dump the balls into the big bin?",
          "I wonder if the store is still open. Anyway, take the small bin and pour its contents into the big bin.",
          "We should label these containers later, but first, lift the small bin and pour the balls into the big bin.",
          "My phone just updated itself, but please grab the small bin and empty it into the large bin.",
          "I think the AC filter needs changing. Moving on, pick up the small bin and pour the balls into the big bin.",
          "There's a funny sound coming from the vent, but could you take the small bin and dump the balls into the big bin?",
          "I need to buy more tape, but right now, grab the small bin and pour the balls into the large container.",
          "The calendar still shows last month. Anyway, lift the small bin and pour the balls into the big bin."
        ],
        "r2_commonsense": [
          "Seize the compact container the small bin and tip its spherical contents into the larger receptacle.",
          "Grasp the smaller tray the small bin and decant the round objects into the oversized bin.",
          "Pick up the petite vessel the small bin and transfer the spheres into the spacious container.",
          "Take hold of the miniature receptacle the small bin and spill the orbs into the bigger storage unit.",
          "Lift the diminutive holder the small bin and empty its round items into the large collection bin.",
          "Hoist the little container the small bin and tilt it so the rolling objects fall into the grand bin.",
          "Clutch the small-scale tub the small bin and cascade its spherical cargo into the bigger basin.",
          "Retrieve the compact pail the small bin and deposit its round contents into the spacious receptacle.",
          "Collect the undersized bin the small bin and channel its ball-shaped items into the expansive container.",
          "Secure the modest-sized bucket the small bin and funnel the globes into the full-sized bin.",
          "Obtain the little trough the small bin and offload the round objects into the roomy bin.",
          "Snatch the small scoop the small bin and release the rolling spheres into the bigger collection vessel.",
          "Acquire the minor container the small bin and dispense the orbs into the substantial bin.",
          "Take the compact receptacle the small bin and invert it over the large bin, releasing the balls.",
          "Grip the pint-sized holder the small bin and tilt it to cascade the round objects into the ample container.",
          "Catch hold of the small catchment the small bin and shift the spheres into the generously sized bin.",
          "Grab the slight vessel the small bin and overturn it above the grand receptacle, letting the balls fall.",
          "Raise the little bin the small bin and angle it so the spherical items tumble into the larger repository.",
          "Scoop up the compact carrier the small bin and direct the ball-shaped contents into the voluminous bin.",
          "Fetch the diminutive basket the small bin and redistribute its round payload into the broad container.",
          "Lift the small-proportioned holder the small bin and drain its globular contents into the big receptacle.",
          "Heave up the minor bucket the small bin and channel its spheres downward into the expansive bin.",
          "Pick up the small collecting vessel the small bin and upend it over the large gathering bin.",
          "Clasp the petite tub the small bin and let its orb-shaped contents flow into the major bin.",
          "Capture the tiny container the small bin and rotate it to release the round objects into the oversized bin."
        ],
        "r3_reasoning": [
          "Ensure that all balls previously in the small bin are now inside the big bin.",
          "The goal is for the small bin to be empty and all its ball contents to reside in the large bin.",
          "Make sure the big bin contains all the balls that were originally in the small bin.",
          "By the end, the small bin should be emptied and the balls should be transferred to the big bin.",
          "The desired outcome is that no balls remain in the small bin and they have all been deposited in the large bin.",
          "Verify that the small bin has been lifted, tilted, and its ball contents now rest in the big bin.",
          "After completion, the big bin should hold all the balls and the small bin should be free of contents.",
          "The task succeeds when every ball from the small bin has been poured into the big bin.",
          "Confirm that the transfer is complete: the small bin is empty and the big bin has received all the balls.",
          "The end state should show the small bin emptied of balls with all of them now collected in the large bin."
        ]
      },
      "sha256": "eafac8b4ff51d5e91912aec1c783d69b22c594ad824a1629464463ebd72ebf4e",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/dump_bin_bigbin.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/dump_bin_bigbin.py"
    },
    "task_instruction/grab_roller": {
      "full_description": "use both arms to grab the roller on the table",
      "schema": "{A} notifies the roller. 'arm' use literal here",
      "pools": {
        "seen": [
          "Take hold of {A} using your arms.",
          "Firmly grip {A} on the table now.",
          "Grab {A} directly from the table.",
          "Take both arms to grasp {A}.",
          "Hold {A} on the table with hands.",
          "Reach for {A} and grab it firmly.",
          "Securely grab {A} using both arms.",
          "Use both arms to grip {A} tightly.",
          "Grasp {A} firmly from the table.",
          "Lift {A} off the table with arms.",
          "Secure {A} on the table using arms.",
          "Take hold of {A} with both arms.",
          "Grab the roller on the table.",
          "Hold {A} firmly from the table.",
          "Lift {A} from the table carefully.",
          "Take {A} directly from the table.",
          "Grasp {A} on the table with arms.",
          "Use arms to firmly grab {A}.",
          "Both arms should grab {A} now.",
          "Pick up {A} from the table directly.",
          "Get hold of {A} using your arms",
          "Secure {A} from the table using arms",
          "Grab the roller placed on the table",
          "Lift {A} off the table with both arms",
          "Reach for {A} and hold it firmly",
          "Lift {A} from its place on the table",
          "Pick up {A} using both arms equally",
          "Pick up the roller using any method",
          "Hold {A} with both arms to pick it up",
          "Reach out to grab {A} from the table",
          "Grab the roller on the table.",
          "Secure {A} with both arms.",
          "Grab {A} placed on the table.",
          "Lift {A} with your arms.",
          "Pick up {A} using both arms.",
          "Grab roller using both hands.",
          "Grasp {A} firmly with arms.",
          "Hold {A} from the table.",
          "Take hold of {A} with arms.",
          "Lift {A} from the table.",
          "Grip {A} firmly with arms.",
          "Use both arms to grab {A}.",
          "Take hold of {A}.",
          "Secure {A} using your arms.",
          "Pick up {A} from the table.",
          "Bring both arms to grab {A}.",
          "Place hands on {A} and lift.",
          "Use arms to hold {A} tightly.",
          "Grasp {A} on the table.",
          "Firmly grab {A} using arms."
        ],
        "unseen": [
          "Grab {A} on the table with arms.",
          "Use both arms to grab {A}.",
          "Grab {A} on the table with arms.",
          "Use both arms to grab {A}.",
          "Grab {A} on the table using arms",
          "Reach and grab {A} with both arms",
          "Grab {A} with both arms.",
          "Use arms to grab {A}.",
          "Hold {A} with both arms.",
          "Grab {A} on the table."
        ]
      },
      "sha256": "8913870868d6a7549e80241272e840279157fb421fca0de25f2754be29552d73",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/grab_roller.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/grab_roller.py"
    },
    "task_instruction_plus/grab_roller": {
      "full_description": "use both arms to grab the roller on the table",
      "schema": "{A} notifies the roller. 'arm' use literal here",
      "pools": {
        "r1_distraction": [
          "Hey, when you get a moment, could you use both arms to grab the roller on the table?",
          "Before we start the next procedure, please grab the roller from the table with both arms.",
          "The storage room is a mess, but right now, use both arms to pick up the roller on the table.",
          "I forgot to mention earlier, but can you use both arms to grab the roller off the table?",
          "Someone scheduled a meeting for later, anyway, grab the roller from the table using both arms.",
          "The Wi-Fi password changed again, but could you use both arms to take hold of the roller on the table?",
          "I need to order new gloves, but first, grab the roller from the table with both arms.",
          "The lab coat rack is broken, moving on, please use both arms to grab the roller off the table.",
          "There's a spider in the corner, but can you grab the roller from the table using both arms?",
          "I accidentally sent the wrong email, anyway, use both arms to pick up the roller on the table.",
          "The fire extinguisher needs inspection, but for now, grab the roller with both arms from the table.",
          "We should clean the whiteboard later, but could you use both arms to grab the roller off the table?",
          "The water cooler is empty, but please go ahead and grab the roller on the table with both arms.",
          "I think the paper shredder is jammed. Anyway, use both arms to grab the roller from the table.",
          "Not sure if anyone fed the fish today, but please grab the roller on the table using both arms."
        ],
        "r2_commonsense": [
          "Use both manipulators to seize the cylindrical tool the roller from the work surface.",
          "Employ both grippers to clasp the rolling instrument the roller sitting on the table.",
          "Grip the round-bodied applicator the roller with both appendages from the tabletop.",
          "With both arms, latch onto the elongated rotating device the roller on the surface.",
          "Deploy both limbs to secure the tubular implement the roller from the table.",
          "Use both end effectors to take hold of the paint-spreading cylinder the roller on the table.",
          "Bring both arms together to clutch the barrel-shaped tool the roller from the work surface.",
          "Employ both manipulator arms to capture the rotating applicator the roller off the table.",
          "Grasp the long cylindrical object the roller from the table using both robotic arms.",
          "With both arms, clamp down on the surface-smoothing device the roller on the table.",
          "Engage both arms to lift the handled cylinder the roller from the tabletop.",
          "Use a two-armed grip to pick up the rolling tool the roller from the surface.",
          "Secure the round-barreled implement the roller by employing both arms simultaneously.",
          "Bring both arms to bear on the roller, the cylindrical device on the table.",
          "Wrap both arms around the elongated rotary tool the roller on the work surface.",
          "Use dual arms to collect the tube-shaped instrument the roller from the table.",
          "With both gripping mechanisms, take possession of the roller from the flat surface.",
          "Reach with both arms to acquire the rolling apparatus the roller from the table.",
          "Employ both manipulators simultaneously to retrieve the handled cylinder the roller.",
          "Clamp the roller between both arms and lift it from the table surface.",
          "Using a bilateral grip, secure the elongated tool the roller on the table.",
          "Both arms should converge on the cylindrical object the roller and hold it firmly.",
          "Mobilize both arms to extract the rolling implement the roller from the tabletop.",
          "Jointly use both arms to snatch the barrel-type tool the roller from the surface.",
          "Cooperatively grip the roller with both arms, removing it from the table."
        ],
        "r3_reasoning": [
          "Ensure that the roller is securely held by both arms, lifted off the table surface.",
          "The goal is for the roller to be gripped firmly by both arms and no longer resting on the table.",
          "Make sure both arms are in contact with the roller and it is elevated from the table.",
          "By the end, the roller should be suspended between both arms, clear of the tabletop.",
          "The desired outcome is the roller being clamped between both arms in a stable grip.",
          "Verify that both arms have successfully made contact with the roller and hold it off the table.",
          "After completion, the roller should be in the possession of both arms simultaneously.",
          "The task succeeds when both arms are gripping the roller and it is removed from the table surface.",
          "Confirm that the roller is no longer on the table and is instead secured by both robotic arms.",
          "The end state should show the roller held steadily aloft by both arms, completely off the table."
        ]
      },
      "sha256": "11a48ba9ac2deff1c109623fee462bc9ca61c60aade873c12487df06803836ef",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/grab_roller.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/grab_roller.py"
    },
    "task_instruction/handover_mic": {
      "full_description": "Use one arm to grasp the microphone on the table and handover it to the other arm",
      "schema": "{A} notifies the microphone, {a} notifies the arm to grab the microphone, {b} notifies the arm to hand over to",
      "pools": {
        "seen": [
          "Pick {A} and transfer it to the other arm.",
          "Hold {A} and pass it to the other hand.",
          "Grasp {A}, then give it to the other arm.",
          "Lift {A} and pass it across.",
          "Secure {A} using one arm and transfer it.",
          "Pick up {A} and hand it to the other side.",
          "Grab {A} and give it to the opposite arm.",
          "Take {A} and move it to the other hand.",
          "Hold {A} firmly and pass it to the other arm.",
          "Lift {A} and deliver it to the other side.",
          "Use {a} to grab {A} and transfer it to {b}.",
          "Lift {A} and hand it over to the other arm.",
          "Grasp {A} and pass it across.",
          "Take {A} and move it to another hand.",
          "Hold {A} and deliver it to another side.",
          "Lift {A} and hand it to someone else.",
          "Use one hand to grab {A} and pass it.",
          "Grasp {A} and switch it to another hand.",
          "Secure {A} from the table and transfer it.",
          "Take hold of {A} and pass it to {b}.",
          "Use {a} to hold {A}, then give it to {b}.",
          "Hold {A} securely and shift it to another arm.",
          "Lift {A} using {a} and pass it to {b}.",
          "Pick {A} from the surface and switch hands.",
          "Hold {A} with {a} and give it to {b}.",
          "Grasp {A} and shift it to the opposite hand.",
          "Take {A} using {a} and transfer it to {b}.",
          "Lift {A} and hand it over to the other side.",
          "Grab {A} using {a} and pass it over to {b}.",
          "Reach for {A} and move it to the other hand.",
          "Hold {A} with one hand and transfer it",
          "Take {A} and give it to the other {b}",
          "Grip {A} and pass it to the other side",
          "Use one {a} to grab {A} and give it away",
          "Lift {A} and place it in the other {b}",
          "Seize {A} and offer it to the other arm",
          "Take {A} and pass it to another hand",
          "Pass {A} from one side to the other {b}",
          "Pick up {A} and move it to the opposite side",
          "Grab {A} and transfer it to another hand",
          "Use one arm to pick up {A} and give it to the other.",
          "Pick up {A} and transfer it to the opposite side.",
          "Hold {A} and shift it to the other arm.",
          "Lift {A}, then pass it across without delay.",
          "Grab {A} and smoothly give it to the other arm.",
          "Take {A}, shift it, and release it to the other side.",
          "Pick up {A}, pass it to the other arm, and release.",
          "Lift {A} and hand it to the other side easily.",
          "Grasp {A}, transfer it, then let go of it smoothly.",
          "Take {A}, pass it, and release it to complete the task."
        ],
        "unseen": [
          "Grab {A} from the table and pass it over.",
          "Use one arm to hold {A} and hand it over.",
          "Grab {A} from the table and hand it to {b}.",
          "Pick up {A} and pass it to {b}.",
          "Pick up {A} and transfer it to the other hand.",
          "Grab {A} from the table and pass it across.",
          "Grab {A} and pass it to another {b}",
          "Pick up {A} and hand it over",
          "Grab {A} and pass it to the other arm.",
          "Take hold of {A} and hand it over."
        ]
      },
      "sha256": "99452881cf54850a3054ec4636327fadc5ac082562a1f1983d5383eec21e01dd",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/handover_mic.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_mic.py"
    },
    "task_instruction_plus/handover_mic": {
      "full_description": "Use one arm to grasp the microphone on the table and handover it to the other arm",
      "schema": "{A} notifies the microphone, {a} notifies the arm to grab the microphone, {b} notifies the arm to hand over to",
      "pools": {
        "r1_distraction": [
          "Hey, before soundcheck, could you use one arm to grab the microphone from the table and hand it to the other arm?",
          "I know we need to fix the speaker later, but first, pick up the microphone with one arm and pass it to the other arm.",
          "The audience is settling in, but right now, grab the microphone using one arm and transfer it to the other arm.",
          "Someone left a cable on the floor. Anyway, use one arm to take the microphone from the table and hand it over to the other arm.",
          "I think the stage lights need adjusting, but could you grab the microphone with one arm and give it to the other arm?",
          "We should tune the instruments later, but for now, pick up the microphone using one arm and pass it to the other arm.",
          "The curtains look a bit wrinkled. Moving on, use one arm to grab the microphone and hand it to the other arm.",
          "I forgot to bring the setlist, but please grab the microphone from the table with one arm and transfer it to the other arm.",
          "My earpiece keeps cutting out, but can you take the microphone using one arm and pass it over to the other arm?",
          "The green room snacks are running low. Anyway, pick the microphone up with one arm and give it to the other arm.",
          "There's feedback coming from somewhere, but first, grab the microphone using one arm and hand it to the other arm.",
          "I need to check the sound levels soon, but right now, use one arm to grab the microphone and transfer it to the other arm.",
          "The air conditioning is too loud in here, but please pick up the microphone with one arm and pass it to the other arm.",
          "Not sure who moved the music stand, but could you grab the microphone with one arm and hand it off to the other arm?",
          "The backup batteries are in the drawer, by the way. Now, use one arm to grab the microphone and give it to the other arm."
        ],
        "r2_commonsense": [
          "Employ one arm to seize the audio input device the microphone from the surface and relay it to the other arm.",
          "Use one arm to clutch the sound-capturing instrument the microphone and transfer it across to the other arm.",
          "With one arm, grasp the voice amplification tool the microphone off the table and deliver it to the other arm.",
          "Utilize one arm to collect the handheld audio transducer the microphone and pass it to the other arm.",
          "Grab the elongated sound pickup the microphone using one arm and shift it into the other arm.",
          "Deploy one arm to retrieve the vocal recording device the microphone from the table and convey it to the other arm.",
          "With one arm, take the speaking instrument the microphone and exchange it to the other arm.",
          "Use one arm to lift the audio sensor the microphone and hand it across to the other arm.",
          "Employ one arm to acquire the speech-capturing device the microphone and move it to the other arm.",
          "Grip the handheld sound transmitter the microphone with one arm and forward it to the other arm.",
          "Leverage one arm to pick up the voice input tool the microphone and transition it to the other arm.",
          "Using one arm, capture the cylindrical audio device the microphone and surrender it to the other arm.",
          "Take the sound-gathering apparatus the microphone with one arm and migrate it to the other arm.",
          "Secure the tabletop audio pickup the microphone via one arm and dispatch it to the other arm.",
          "With one arm, snatch the vocal amplifier the microphone from the surface and consign it to the other arm.",
          "Employ one arm to hoist the public-address device the microphone and yield it to the other arm.",
          "Use one arm to obtain the handheld audio receiver the microphone and route it to the other arm.",
          "Clasp the stage audio instrument the microphone with one arm and bestow it upon the other arm.",
          "With one arm, extract the tabletop voice device the microphone and channel it to the other arm.",
          "Collect the sound-conversion tool the microphone using one arm and redirect it to the other arm.",
          "Deploy one arm to grip the performance audio device the microphone and switch it to the other arm.",
          "Use one arm to fetch the voice transmission instrument the microphone and remit it to the other arm.",
          "Seize the portable sound sensor the microphone with one arm and relinquish it to the other arm.",
          "Employ one arm to take hold of the audio capture tool the microphone and ferry it to the other arm.",
          "With one arm, remove the tabletop speaking device the microphone and entrust it to the other arm."
        ],
        "r3_reasoning": [
          "Ensure that the microphone has been transferred from one arm to the other arm and is now held by the other arm.",
          "The goal is for the microphone to end up in the grip of the other arm after being picked up by one arm from the table.",
          "Make sure the microphone is no longer on the table and is securely held by the other arm following the handover.",
          "By the end, the other arm should be holding the microphone, and one arm should be free after completing the transfer.",
          "The desired outcome is the microphone in the other arm's grasp, having been relayed from one arm.",
          "Verify that one arm picked up the microphone from the table and successfully delivered it to the other arm.",
          "After completion, the microphone should reside in the other arm, not on the table or in one arm.",
          "The task succeeds when the other arm holds the microphone and one arm has released it after the handover.",
          "Confirm that the microphone was removed from the table by one arm and is now possessed by the other arm.",
          "The end state should show the microphone firmly in the other arm's grip, with the table cleared and one arm unoccupied."
        ]
      },
      "sha256": "108f25a13aa9916e75547de69149f25d1d11566a58e9cb6e195de9b01f6b66a0",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/handover_mic.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/handover_mic.py"
    },
    "task_instruction/move_can_pot": {
      "full_description": "there is a can and a pot on the table, use one arm to <pick up the can> and <move it to beside the pot>",
      "schema": "{A} notifies the pot, {B} notifies the can, {a} notifies the arm to grab the can",
      "pools": {
        "seen": [
          "Use {a} to grab {B} and move it next to {A}",
          "Pick {B} up with {a} then place near {A}",
          "Move {B} from its spot to near {A}",
          "Lift {B} using {a} and drop it beside {A}",
          "Grab {B}, shift it, and place it close to {A}",
          "Take {B} with {a}, bring it, and set next to {A}",
          "Pick {B} up and carefully position it beside {A}",
          "Using {a}, lift {B} and place it by {A}",
          "Pick {B} with {a} and relocate it near {A}",
          "Lift {B} and move it near {A}",
          "Pick {B} up and move it next to {A}",
          "Grab {B} with {a} and set it near {A}",
          "Place {B} beside {A} after picking it up",
          "Use {a} to lift {B}, then move it next to {A}",
          "Move {B} beside {A} after lifting it",
          "Grab {B} with {a} and position it beside {A}",
          "Lift {B}, then place it next to {A}",
          "Use {a} to grab {B} and move it beside {A}",
          "Set {B} near {A} after picking it up",
          "Use {a} to lift {B} and place it near {A}",
          "Use {a} to take {B} to {A}",
          "Lift {B} and place it next to {A}",
          "Use {a} to move {B} beside {A}",
          "Pick up {B} with {a} and set by {A}",
          "Grab {B}, move it, and place by {A}",
          "Take {B} to {A} using {a}",
          "Set {B} right next to {A}",
          "With {a}, grab {B} and move to {A}",
          "Lift {B} and set it beside {A}",
          "Move {B} to {A} with {a}",
          "Lift {B} and set it next to {A}",
          "Use {a} to grab {B} and transfer it near {A}",
          "Pick up {B} and put it beside {A}",
          "Lift {B} using {a} and position it by {A}",
          "Move {B} to be next to {A}",
          "Use {a} to pick {B} up and set it beside {A}",
          "Place {B} next to {A}",
          "Grab {B} with {a} and move it close to {A}",
          "Bring {B} over and set it near {A}",
          "Use {a} to lift {B} and place it next to {A}",
          "Lift {B} and set it next to {A}",
          "Pick up {B} using {a}, transfer it beside {A}",
          "Grab {B}, move it to {A}'s side",
          "Take {B} with {a}, place it near {A}",
          "Pick {B} and position it next to {A}",
          "Use {a} to grab {B}, move it beside {A}",
          "Lift {B}, place it by {A}",
          "Take {B} using {a}, set it next to {A}",
          "Grab {B} and move it close to {A}",
          "Use {a} to pick {B}, position it near {A}"
        ],
        "unseen": [
          "Pick up {B} and move it near {A}",
          "Grab {B} and set it beside {A}",
          "Lift {B} and set it beside {A}",
          "Use {a} to grab {B} and place it by {A}",
          "Pick up {B} and set it beside {A}",
          "Grab {B} and move it near {A}",
          "Grab {B} and place it near {A}",
          "Use {a} to pick up {B} and move it beside {A}",
          "Grab {B} and place it beside {A}",
          "Use {a} to pick up {B}, move it near {A}"
        ]
      },
      "sha256": "a82cfb64ee7d642b2b8c1da7cd9a0fcad522574782575653e1e89e740ab7afe5",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_can_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_can_pot.py"
    },
    "task_instruction_plus/move_can_pot": {
      "full_description": "there is a can and a pot on the table, use one arm to <pick up the can> and <move it to beside the pot>",
      "schema": "{A} notifies the pot, {B} notifies the can, {a} notifies the arm to grab the can",
      "pools": {
        "r1_distraction": [
          "Hey, I know we just finished another task, but could you use one arm to grab the can and move it next to the pot?",
          "Before we take a break, please pick up the can with one arm and place it beside the pot.",
          "The temperature in here feels a bit warm, but anyway, grab the can and set it near the pot.",
          "I was just wondering about something else entirely, but first, use one arm to move the can next to the pot.",
          "By the way, when you get a chance, pick up the can with one arm and position it beside the pot.",
          "Sorry for the late request, but please grab the can using one arm and place it near the pot.",
          "I know this is a bit random, but could you lift the can with one arm and set it beside the pot?",
          "Oh, before I forget -- take the can using one arm and move it next to the pot.",
          "This is unrelated to what we discussed, but grab the can with one arm and put it by the pot.",
          "While we are idle, go ahead and use one arm to pick the can and move it beside the pot.",
          "Not to interrupt anything, but please pick up the can and place it near the pot using one arm.",
          "Quick task here: use one arm to grab the can and set it next to the pot.",
          "I just remembered we need this done -- use one arm to move the can beside the pot.",
          "Hey, real quick, grab the can with one arm and put it next to the pot.",
          "Forget the other stuff for now, just pick up the can with one arm and move it near the pot."
        ],
        "r2_commonsense": [
          "Employ one arm to grasp the cylindrical container the can and relocate it adjacent to the pot.",
          "Use one arm to seize the tin the can and position it alongside the cooking vessel the pot.",
          "With one arm, lift the metal canister the can and deposit it next to the pot.",
          "Utilizing one arm, pick up the beverage container the can and set it beside the pot the pot.",
          "Grab the aluminum cylinder the can with one arm and transfer it to a spot near the pot.",
          "Take hold of the can using one arm and reposition it so it sits beside the pot.",
          "Use one arm to collect the small metal container the can and place it adjacent to the cookware the pot.",
          "With one arm, retrieve the can from its current position and deposit it near the pot.",
          "Employ one arm to hoist the can and set it down right next to the vessel the pot.",
          "Grip the can the can with one arm and shift it to be alongside the pot.",
          "Using one arm, fetch the cylindrical tin the can and rest it beside the pot.",
          "With one arm, snag the can and transport it to the area adjacent to the pot.",
          "Deploy one arm to capture the metallic container the can and leave it near the large pot the pot.",
          "Clasp the can using one arm and transfer it to the pot's side.",
          "Utilize one arm to raise the can off the surface and bring it close to the pot.",
          "Pick up the small cylindrical object the can using one arm and arrange it beside the cooking container the pot.",
          "Grab the can via one arm and reposition it so it neighbors the pot.",
          "Use one arm to lift the tinned container the can and lower it near the pot.",
          "Seize the can with one arm and slide it to a position next to the pot.",
          "With one arm, obtain the metal cylinder the can and settle it beside the pot.",
          "Employ one arm to clutch the can and relocate it next to the large vessel the pot.",
          "Grip the can using one arm and bring it to rest alongside the pot.",
          "Using one arm, acquire the canned object the can and place it by the pot.",
          "Take the can with one arm and move it so it is directly beside the pot.",
          "Use one arm to hoist the round container the can and deposit it at the pot's side."
        ],
        "r3_reasoning": [
          "Ensure the can ends up positioned right next to the pot on the table.",
          "The goal is for the can to be adjacent to the pot, having been moved from its original location.",
          "At the end, the can should be sitting beside the pot rather than in its initial spot.",
          "Make sure the can has been relocated and is now resting next to the pot.",
          "The desired outcome is the can placed beside the pot on the table surface.",
          "After completion, the can should no longer be at its original position but instead near the pot.",
          "The final state should have the can and the pot side by side on the table.",
          "Verify that the can has been picked up and deposited next to the pot.",
          "By the end, the can must be right beside the pot on the work surface.",
          "The result should be the can directly adjacent to the pot, both on the table."
        ]
      },
      "sha256": "f1d96887514ded5bda3114ac305794bed27e15b111158ef84c6ba96cca2bdedc",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/move_can_pot.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_can_pot.py"
    },
    "task_instruction/move_pillbottle_pad": {
      "full_description": "Use one arm to pick the pillbottle and place it onto the pad.",
      "schema": "{A} notifies the pillbottle, {a} notifies the arm to move the pillbottle",
      "pools": {
        "seen": [
          "Move {A} with one arm to the pad",
          "Lift {A} with {a} and drop on pad",
          "Pick {A} and place it on the pad",
          "Use {a} to move {A} to the pad",
          "Grab {A} and drop it onto the pad",
          "Lift {A} with {a} and set it down",
          "Take {A} and put it onto the pad",
          "Use {a} to set {A} onto the pad",
          "Move {A} and position it on the pad",
          "Grab and transfer {A} with {a} to pad",
          "Use {a} to lift {A} and place it",
          "Move {A} using {a} and drop it on pad",
          "Place {A} on pad after lifting with {a}",
          "Lift {A} and carefully place it on pad",
          "Pick {A} with {a} and position it onto pad",
          "Grab {A} and drop it on the pad",
          "Use {a} to pick {A}, then place it on pad",
          "Pick {A} up and set it onto the pad",
          "Set {A} on pad after lifting it with {a}",
          "Move {A} to the pad and let it rest there",
          "Grab {A} and place it on the pad",
          "Use {a} to grab {A} and place it",
          "Pick {A} up and drop it onto the pad",
          "Move {A} onto the pad using {a}",
          "Lift {A} and set it on the pad",
          "Use {a} to lift {A} and position it",
          "Take {A} and place it onto the pad",
          "Use {a} to take {A} and move it",
          "Pick {A} using {a} and set it on pad",
          "Move {A} to the pad and leave it there",
          "Grab {A} with {a} and move it to the pad.",
          "Place {A} onto the pad after picking it.",
          "Lift {A} using {a} and position it on the pad.",
          "Move {A} to the pad and release it there.",
          "Pick {A} with {a} and drop it onto the pad.",
          "Set {A} down on the pad after picking it.",
          "Use {a} to grab {A} and put it on the pad.",
          "Place {A} on the pad after lifting it up.",
          "Grab {A} and carefully set it onto the pad.",
          "Use {a} to pick and place {A} onto the pad.",
          "Move {A} and drop it on the pad",
          "Pick {A} with {a} and place it down",
          "Grab {A} and position it on the pad",
          "Use {a} to move {A} to the pad",
          "Lift {A} and gently lower onto the pad",
          "Control {a} to pick {A} and set it down",
          "Grab {A} carefully and drop it on pad",
          "Use {a} to place {A} on the pad",
          "Hold {A} and position it on the pad",
          "Direct {a} to grab {A} and drop it there"
        ],
        "unseen": [
          "Pick {A} and set it on the pad",
          "Use {a} to grab {A} and place it",
          "Grab {A} and set it on the pad",
          "Pick {A} and put it onto the pad",
          "Pick {A} and set it on the pad",
          "Use {a} to move {A} onto the pad",
          "Use {a} to pick {A} and place it.",
          "Pick {A} and set it onto the pad.",
          "Pick {A} and set it on the pad",
          "Use {a} to grab {A} and place it"
        ]
      },
      "sha256": "37fe85c95f87ac30506a597bfcd01064265cf0c09a8adb8fc5a91f54859f6d12",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_pillbottle_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_pillbottle_pad.py"
    },
    "task_instruction_plus/move_pillbottle_pad": {
      "full_description": "Use one arm to pick the pillbottle and place it onto the pad.",
      "schema": "{A} notifies the pillbottle, {a} notifies the arm to move the pillbottle",
      "pools": {
        "r1_distraction": [
          "Hey, I know we were doing something else, but please pick the pill bottle with one arm and place it on the pad.",
          "Before we wrap up for now, use one arm to grab the pill bottle and set it onto the pad.",
          "The noise outside is distracting, but anyway, pick up the pill bottle with one arm and put it on the pad.",
          "I was just wondering about the schedule, but first, move the pill bottle onto the pad using one arm.",
          "By the way, whenever you are free, grab the pill bottle with one arm and place it on the pad.",
          "Sorry to spring this on you, but please use one arm to pick the pill bottle and drop it onto the pad.",
          "I know this is out of the blue, but could you lift the pill bottle with one arm and set it on the pad?",
          "Oh, one more thing -- take the pill bottle using one arm and position it on the pad.",
          "This might seem sudden, but grab the pill bottle with one arm and move it to the pad.",
          "While we are between tasks, go ahead and pick the pill bottle using one arm and place it on the pad.",
          "Not to disrupt anything, but please use one arm to move the pill bottle onto the pad.",
          "Quick request: grab the pill bottle with one arm and set it on the pad.",
          "I just realized we need this -- use one arm to pick the pill bottle and put it on the pad.",
          "Hey, real quick, take the pill bottle with one arm and place it onto the pad.",
          "Put the other stuff aside for a second and use one arm to move the pill bottle to the pad."
        ],
        "r2_commonsense": [
          "Use one arm to grasp the medication container the pill bottle and deposit it on the cushioned surface.",
          "Employ one arm to pick up the small cylindrical bottle the pill bottle and set it onto the mat.",
          "With one arm, seize the medicine vessel the pill bottle and place it upon the soft pad.",
          "Utilize one arm to lift the prescription container the pill bottle and rest it on the pad.",
          "Using one arm, collect the pharmacy bottle the pill bottle and lower it onto the flat mat.",
          "Grab the pill container the pill bottle with one arm and position it on the padded area.",
          "Deploy one arm to retrieve the tablet bottle the pill bottle and deposit it on the cushion.",
          "With one arm, take hold of the cylindrical medicine holder the pill bottle and set it down on the pad.",
          "Employ one arm to hoist the small medication vessel the pill bottle and place it on the surface mat.",
          "Use one arm to clasp the pharmaceutical container the pill bottle and transfer it to the pad.",
          "Seize the capsule bottle the pill bottle using one arm and rest it on the padded surface.",
          "Grip the medicine bottle the pill bottle via one arm and deposit it onto the mat below.",
          "Take the small drug container the pill bottle with one arm and set it on the pad.",
          "Collect the pill vessel the pill bottle using one arm and position it atop the cushioned mat.",
          "Lift the tablet container the pill bottle with one arm and lower it onto the soft surface.",
          "Grab the pill bottle using one arm and transfer the supplement container to the pad.",
          "Hoist the dosage bottle the pill bottle with one arm and place it on the flat pad.",
          "Pick up the round-capped medicine bottle the pill bottle with one arm and put it on the mat.",
          "Using one arm, snag the pharmaceutical vessel the pill bottle and set it upon the pad.",
          "With one arm, capture the small remedy container the pill bottle and rest it on the cushion.",
          "Use one arm to fetch the health supplement bottle the pill bottle and deposit it on the pad.",
          "Employ one arm to acquire the capped medical container the pill bottle and settle it onto the mat.",
          "Grasp the small prescription bottle the pill bottle using one arm and arrange it on the pad.",
          "Via one arm, pick up the therapeutic container the pill bottle and lower it on the padded area.",
          "Utilize one arm to obtain the pharmacy vessel the pill bottle and set it on the flat cushion."
        ],
        "r3_reasoning": [
          "Ensure the pill bottle ends up resting on the pad, having been moved from its original location.",
          "The goal is for the pill bottle to be sitting on the pad after being picked up.",
          "At the end, the pill bottle should be on top of the pad and no longer at its starting position.",
          "Make sure the pill bottle has been transferred and is now resting securely on the pad.",
          "The desired outcome is the pill bottle deposited on the pad surface.",
          "After completion, the pill bottle should be positioned on the pad rather than the table.",
          "The final state should have the pill bottle placed squarely on the pad.",
          "Verify that the pill bottle has been picked up from the table and is now on the pad.",
          "By the end of the task, the pill bottle must be atop the pad.",
          "The result should be the pill bottle resting stably on the pad surface."
        ]
      },
      "sha256": "2e1da03184a72cab9097ddee22da7a8bb378e2e578566bb77e40080e6554ed41",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/move_pillbottle_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_pillbottle_pad.py"
    },
    "task_instruction/move_playingcard_away": {
      "full_description": "use the arm to <pick up the playing card> and <move it away from the table>.For example, if the playing card is on the outward side of the table, you should move it further outward side of the table.",
      "schema": "{A} notifies the playing card, {a} notifies the arm to grab the playing card",
      "pools": {
        "seen": [
          "Move {A} further outward after picking it up.",
          "Pick up {A} using {a} and shift it outward.",
          "Lift {A} and relocate it off the table.",
          "With {a}, pick up {A} and slide it outward.",
          "Grab {A} and move it further outward.",
          "Pick up {A} with {a} and place it outward.",
          "Lift {A} and set it away from the table.",
          "Use {a} to grab {A} and move it aside.",
          "Pick up {A} and shift it further outward.",
          "Using {a}, lift {A} and move it outward.",
          "Lift {A} and push it off the table.",
          "Pick up {A} and move it away.",
          "Move {A} outward from the table.",
          "Shift {A} off the table to the side.",
          "Take {A} and place it further outward.",
          "Slide {A} off the table outward.",
          "Grab {A} and move it further away.",
          "Lift {A} and shift it outward.",
          "Place {A} away from the table outward.",
          "Move {A} off the table outward.",
          "Use {a} to grab {A} and move it away.",
          "Move {A} farther from the table using {a}.",
          "Grab {A} and take it away from the table.",
          "Pick up {A} and move it farther outward.",
          "Use {a} to pick {A} and shift it outward.",
          "Take {A} and move it away from the table.",
          "Lift {A} and place it farther away with {a}.",
          "Shift {A} outward by grabbing it with {a}.",
          "Pick {A} and move it outward from the table.",
          "Grab {A} and shift it farther away from the table.",
          "Move {A} away from its position on the table.",
          "Grab {A} from the table and shift it outward.",
          "Lift {A} using {a} and transfer it outward.",
          "Relocate {A} farther outward using {a}.",
          "Pick up {A} and place it further away.",
          "Shift {A} outward after grabbing it.",
          "Use {a} to pick up {A} and move it.",
          "Pick {A} and slide it further outward.",
          "Lift {A} from the table and move it outward.",
          "Grab {A} using {a} and move it outward.",
          "Lift {A} and slide it off the table.",
          "Grab {A} with {a} and move it outward.",
          "Take {A} and push it further away.",
          "Use {a} to pick up {A} and push it outward.",
          "Grab {A} and set it beyond the table.",
          "Lift {A} with {a} and move it outward.",
          "Pick {A} from the table and shift it outward.",
          "Use {a} to pick {A} and move it outward.",
          "Take {A} and place it beyond the table.",
          "Grab {A} using {a} and push it outward."
        ],
        "unseen": [
          "Use {a} to grab {A} and move it outward.",
          "Grab {A} and move it off the table.",
          "Grab {A} and move it outward.",
          "Pick up {A} and shift it outward.",
          "Pick up {A} and move it outward.",
          "Lift {A} from the table and shift it.",
          "Pick up {A} and move it outward.",
          "Use {a} to grab {A} and relocate it.",
          "Pick up {A} and move it outward.",
          "Use {a} to grab {A} and relocate it."
        ]
      },
      "sha256": "c65cfdbc0bb65132adeeb8ffcd4ccc76d388df36fc3942b18b7b58e30f49b81b",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_playingcard_away.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_playingcard_away.py"
    },
    "task_instruction_plus/move_playingcard_away": {
      "full_description": "use the arm to <pick up the playing card> and <move it away from the table>.For example, if the playing card is on the outward side of the table, you should move it further outward side of the table.",
      "schema": "{A} notifies the playing card, {a} notifies the arm to grab the playing card",
      "pools": {
        "r1_distraction": [
          "Hey, I know this is kind of abrupt, but could you use one arm to pick up the playing card and move it away from the table?",
          "Before we do anything else, please grab the playing card with one arm and push it further outward off the table.",
          "The room temperature is a bit chilly, but anyway, pick up the playing card using one arm and move it away.",
          "I was just thinking about something unrelated, but first, use one arm to grab the playing card and shift it outward.",
          "By the way, when you have a second, pick the playing card up with one arm and move it off the table.",
          "Sorry to interrupt, but please use one arm to grab the playing card and move it further away from the table.",
          "I know we were discussing other things, but could you pick up the playing card with one arm and shift it outward?",
          "Oh, almost forgot -- use one arm to take the playing card and move it away from the table edge.",
          "This is random, but please grab the playing card using one arm and push it further outward.",
          "While we have a moment, go ahead and use one arm to pick the playing card and move it away.",
          "Not to switch topics, but please lift the playing card with one arm and shift it off the table.",
          "Quick favor: use one arm to grab the playing card and move it outward away from the table.",
          "I just remembered we need to do this -- pick the playing card up with one arm and push it away.",
          "Hey, real quick, take the playing card with one arm and relocate it further outward.",
          "Forget the other stuff, just use one arm to move the playing card away from the table."
        ],
        "r2_commonsense": [
          "Use one arm to grasp the flat rectangular card the playing card and relocate it further from the table.",
          "Employ one arm to seize the game card the playing card and shift it outward beyond the table edge.",
          "With one arm, pick up the thin printed card the playing card and push it away from the workspace.",
          "Utilizing one arm, lift the deck card the playing card and transfer it outward off the surface.",
          "Grab the paper card the playing card with one arm and slide it further outward from the table.",
          "Take hold of the playing card using one arm and reposition the flat card further from the table center.",
          "Use one arm to collect the laminated card the playing card and move it beyond the table boundary.",
          "With one arm, retrieve the flat gaming piece the playing card and displace it outward.",
          "Employ one arm to hoist the thin card the playing card and set it further from the table surface.",
          "Grip the playing card with one arm and transport the rectangular card away from the workspace.",
          "Using one arm, fetch the poker card the playing card and shift it outward from its current spot.",
          "With one arm, snag the printed playing piece the playing card and carry it off the table edge.",
          "Deploy one arm to capture the thin card the playing card and position it beyond the table.",
          "Clasp the flat game card the playing card using one arm and transfer it further outward.",
          "Utilize one arm to raise the playing card off the surface and move the card away from the table.",
          "Pick up the slim rectangular object the playing card using one arm and push it outward.",
          "Grab the card the playing card via one arm and displace it to a spot further from the table.",
          "Use one arm to lift the paper playing piece the playing card and shift it beyond the table area.",
          "Seize the thin flat item the playing card with one arm and relocate it outward from the table.",
          "With one arm, obtain the playing card and carry the card further from the work surface.",
          "Employ one arm to clutch the small printed card the playing card and move it off the table.",
          "Grip the flat rectangular piece the playing card using one arm and push it further outward.",
          "Using one arm, acquire the thin laminated card the playing card and shift it away from the table.",
          "Take the playing piece the playing card with one arm and transfer it further from the surface edge.",
          "Use one arm to hoist the lightweight card the playing card and displace it outward from the table."
        ],
        "r3_reasoning": [
          "Ensure the playing card ends up further away from the table than its starting position.",
          "The goal is for the playing card to have been moved outward, away from its original location on the table.",
          "At the end, the playing card should be displaced further toward the outer edge or beyond the table.",
          "Make sure the playing card has been shifted outward and is no longer at its original spot on the table.",
          "The desired outcome is the playing card relocated further from the table center, pushed outward.",
          "After completion, the playing card should be positioned further away from the table than before.",
          "The final state should have the playing card pushed outward from its initial table position.",
          "Verify that the playing card has been picked up and moved away from the table surface.",
          "By the end of the task, the playing card must be further outward from where it started.",
          "The result should be the playing card displaced away from the table, further toward the outer edge."
        ]
      },
      "sha256": "b61b8c5f119b80460c6fcb56f272e07db532dadb73bc2aa711e2b9b8e5c1adf7",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/move_playingcard_away.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_playingcard_away.py"
    },
    "task_instruction/move_stapler_pad": {
      "full_description": "use appropriate arm to move the stapler to a colored mat",
      "schema": "{A} notifies the stapler, {B} notifies the color of the mat(YOU SHOULD SAY {B} mat, or {B} colored mat), {a} notifies the arm to grab the stapler",
      "pools": {
        "seen": [
          "Grab {A} and drop it on {B} mat.",
          "{a} moves {A} to the {B} mat.",
          "Set {A} onto the {B} colored mat.",
          "{a} places {A} on the {B} mat.",
          "Drop {A} onto the {B} mat.",
          "Stick {A} onto the {B} colored mat.",
          "{a} grabs {A} and sets it on {B} mat.",
          "Slide {A} to the {B} colored mat.",
          "{a} transfers {A} to the {B} mat.",
          "Stick {A} on the {B} mat.",
          "Grab {A} using {a} and set it on {B} mat.",
          "Move {A} to the {B} mat.",
          "Transfer {A} to the {B} colored mat.",
          "Use {a} and place {A} on {B} mat.",
          "Set {A} on the {B} mat with {a}.",
          "Position {A} on the {B} mat.",
          "Pick {A} using {a} and move it to {B} mat.",
          "Place {A} onto the {B} colored mat.",
          "Relocate {A} to the {B} mat.",
          "Grab {A} with {a} and drop it on {B} mat.",
          "Grab {A}, place it on the {B} mat",
          "Using {a}, set {A} on the {B} colored mat",
          "Put {A} on the {B} mat",
          "Lift {A} to the {B} mat using {a}",
          "Place {A} onto the {B} colored mat",
          "Set {A} down on the {B} mat",
          "With {a}, position {A} on the {B} mat",
          "Transfer {A} to the {B} mat",
          "Move {A} with {a} to the {B} mat",
          "Drop {A} carefully on the {B} mat",
          "Place {A} on the {B} mat using {a}",
          "Lift {A} and drop it onto {B} mat",
          "Shift {A} manually to the {B} mat",
          "Move {A} to the {B} mat with {a}",
          "Grab {A} and stick it onto {B} mat",
          "Use {a} to grab {A} and place it on {B} mat",
          "Pick {A} up and position it on {B} mat",
          "Carry {A} and drop it onto the {B} mat",
          "Use {a} to shift {A} onto the {B} mat",
          "Pick {A} with {a} and place it on {B} mat",
          "Use {a} to grab {A} and move it",
          "Set {A} down on the {B} mat",
          "Pick up {A} and place it on {B} mat",
          "Grab {A} using {a} and shift it to {B}",
          "Relocate {A} to the {B} colored mat",
          "Use {a} to place {A} onto the {B} mat",
          "Shift {A} to the {B} mat",
          "Pick up {A} with {a} and set it on {B}",
          "Carry {A} to the {B} colored mat",
          "With {a}, move {A} to the {B} mat"
        ],
        "unseen": [
          "Move {A} to the {B} mat.",
          "Place {A} on the {B} colored mat.",
          "Use {a} to move {A} to {B} mat.",
          "Place {A} on the {B} colored mat.",
          "Use {a} to move {A} to the {B} mat",
          "Move {A} to the {B} colored mat",
          "Grab {A} and set it on {B} mat",
          "Use {a} to move {A} to {B} mat",
          "Move {A} to the {B} mat",
          "Place {A} on the {B} mat"
        ]
      },
      "sha256": "d10a15c9b652de96e2cb607f10347376474b5c8afcd58ba76458897bdae55e7b",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/move_stapler_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_stapler_pad.py"
    },
    "task_instruction_plus/move_stapler_pad": {
      "full_description": "use appropriate arm to move the stapler to a colored mat",
      "schema": "{A} notifies the stapler, {B} notifies the color of the mat(YOU SHOULD SAY {B} mat, or {B} colored mat), {a} notifies the arm to grab the stapler",
      "pools": {
        "r1_distraction": [
          "Hey, I know we just finished something, but could you use one arm to move the stapler to the mat?",
          "Before we take a break, please grab the stapler with one arm and place it on the colored mat.",
          "The fan is kind of loud in here, but anyway, move the stapler to the mat using one arm.",
          "I was just thinking about the schedule, but first, use one arm to transfer the stapler to the mat.",
          "By the way, when you get a moment, grab the stapler with one arm and set it on the colored mat.",
          "Sorry for the interruption, but please use one arm to place the stapler on the mat.",
          "I know this is sudden, but could you pick up the stapler with one arm and move it to the mat?",
          "Oh, before I forget -- take the stapler using one arm and position it on the colored mat.",
          "This might seem out of nowhere, but please grab the stapler with one arm and drop it on the mat.",
          "While we have some downtime, go ahead and move the stapler onto the colored mat using one arm.",
          "Not to change the subject, but please use one arm to place the stapler on the mat.",
          "Quick task: grab the stapler with one arm and set it on the colored mat.",
          "I just remembered we need this done -- move the stapler to the mat with one arm.",
          "Hey, real quick, pick up the stapler with one arm and put it on the mat.",
          "Setting everything else aside, use one arm to move the stapler onto the colored mat."
        ],
        "r2_commonsense": [
          "Use one arm to grasp the paper-fastening device the stapler and deposit it on the mat.",
          "Employ one arm to seize the document binder the stapler and set it on the colored mat.",
          "With one arm, pick up the metal clip tool the stapler and place it upon the mat.",
          "Utilizing one arm, lift the page-binding instrument the stapler and rest it on the colored mat.",
          "Grab the office fastener the stapler with one arm and transfer it to the mat.",
          "Take hold of the desktop binding device the stapler using one arm and position it on the colored mat.",
          "Use one arm to collect the sheet-joining tool the stapler and deposit it onto the mat.",
          "With one arm, retrieve the spring-loaded fastener the stapler and set it down on the colored mat.",
          "Employ one arm to hoist the paper-clamping device the stapler and place it on the mat.",
          "Grip the stationery tool the stapler with one arm and shift it onto the colored mat.",
          "Using one arm, fetch the office supply the stapler and rest it on the mat.",
          "With one arm, snag the desktop paper tool the stapler and move it to the colored mat.",
          "Deploy one arm to capture the document fastener the stapler and leave it on the mat.",
          "Clasp the stapler using one arm and transfer the binding implement to the colored mat.",
          "Utilize one arm to raise the page-clinching device the stapler and bring it to the mat.",
          "Pick up the metal paper joiner the stapler using one arm and arrange it on the colored mat.",
          "Grab the stapler via one arm and reposition the office binder on the mat.",
          "Use one arm to lift the hinged fastening tool the stapler and lower it onto the colored mat.",
          "Seize the desk accessory the stapler with one arm and relocate it to the mat.",
          "With one arm, obtain the paper-pressing tool the stapler and settle it on the colored mat.",
          "Employ one arm to clutch the document-joining device the stapler and place it on the mat.",
          "Grip the stapler using one arm and bring the page fastener to rest on the colored mat.",
          "Using one arm, acquire the spring-action binding tool the stapler and set it on the mat.",
          "Take the lever-operated paper fastener the stapler with one arm and transfer it to the colored mat.",
          "Use one arm to hoist the office clamp tool the stapler and deposit it on the mat."
        ],
        "r3_reasoning": [
          "Ensure the stapler ends up resting on the colored mat after being moved.",
          "The goal is for the stapler to be on the mat, having been transferred from its original position.",
          "At the end, the stapler should be sitting on the colored mat rather than its initial spot.",
          "Make sure the stapler has been relocated and is now positioned on the mat.",
          "The desired outcome is the stapler deposited squarely on the colored mat.",
          "After completion, the stapler should no longer be at its original location but instead on the mat.",
          "The final state should have the stapler placed on the colored mat surface.",
          "Verify that the stapler has been picked up and is now resting on the mat.",
          "By the end of the task, the stapler must be on the colored mat.",
          "The result should be the stapler properly positioned on the mat."
        ]
      },
      "sha256": "a1c624ed2cc4bd7356bb943622fb2cf12fc3aac6c1d1250d616bafc6b228aa21",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/move_stapler_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/move_stapler_pad.py"
    },
    "task_instruction/open_laptop": {
      "full_description": "use one arm to open the laptop",
      "schema": "{A} notifies the laptop. {a} notifies the arm used to open the laptop.",
      "pools": {
        "seen": [
          "Raise {A} lid with {a}.",
          "Fully open the {A}.",
          "Use {a} to open {A}.",
          "Lift {A} lid completely.",
          "Raise {A} lid using {a}.",
          "Open {A} entirely.",
          "Fully lift {A} using {a}.",
          "Open {A} completely.",
          "Use {a} to raise {A}.",
          "Lift {A} to open.",
          "Open {A} carefully with {a}.",
          "Lift and open {A}.",
          "Pull {A} upward lightly.",
          "Raise {A} using {a}.",
          "Pull {A} open with {a}.",
          "Gently open {A}.",
          "Use {a} to raise {A}.",
          "Lift {A} slightly.",
          "Raise and open {A}.",
          "Use {a} to open {A}.",
          "Use {a} to open {A}",
          "Raise the top of {A}",
          "Gently lift {A} using {a}",
          "Pull open {A}",
          "Carefully open {A} using {a}",
          "Lift {A} to open it up",
          "Use {a} to lift {A}",
          "Pull up the lid of {A}",
          "Open {A} lifting with {a}",
          "Raise {A} to expose the screen",
          "Lift {A}'s lid upwards.",
          "Use {a} to raise {A}.",
          "Raise {A} using {a}.",
          "Grip and lift {A}'s lid.",
          "Hold {A} steady, lift lid.",
          "Gently raise {A} using {a}.",
          "Open {A} by lifting its lid.",
          "Lift {A}'s lid using {a}.",
          "With {a}, open {A}'s lid.",
          "Pull the lid of {A} upward.",
          "Raise the lid of {A}.",
          "Use {a} to open {A}.",
          "Lift {A} open with {a}.",
          "Raise {A}'s top section.",
          "Pull {A}'s lid upward.",
          "Gently open {A} upward.",
          "Push {A}'s lid upward using {a}.",
          "Raise {A} using {a} firmly.",
          "Slide {A} open with {a}.",
          "Pull the screen of {A}."
        ],
        "unseen": [
          "Open {A} using {a}.",
          "Lift {A}'s lid fully.",
          "Grab {A} and open it.",
          "Lift {A} using {a}.",
          "Lift {A} using {a}",
          "Open {A} with care",
          "Pull up {A}'s lid.",
          "Open {A} with one motion.",
          "Lift {A}'s lid gently.",
          "Open {A} carefully using {a}."
        ]
      },
      "sha256": "f96ef444acfda857c968b2994b67d482fd0c277fed88612bb86cfb8e7689bef9",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/open_laptop.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_laptop.py"
    },
    "task_instruction_plus/open_laptop": {
      "full_description": "use one arm to open the laptop",
      "schema": "{A} notifies the laptop. {a} notifies the arm used to open the laptop.",
      "pools": {
        "r1_distraction": [
          "Hey, I know we were idle, but could you use one arm to open the laptop?",
          "Before we discuss anything else, please open the laptop using one arm.",
          "The wifi seems slow today, but anyway, lift the laptop's lid with one arm.",
          "I was just thinking about something random, but first, open the laptop with one arm.",
          "By the way, whenever you are ready, use one arm to open the laptop.",
          "Sorry for the sudden request, but please raise the laptop's lid using one arm.",
          "I know this is out of nowhere, but could you open the laptop with one arm?",
          "Oh, one quick thing -- use one arm to lift the laptop's lid open.",
          "This might seem abrupt, but please open the laptop using one arm.",
          "While we are between tasks, go ahead and open the laptop with one arm.",
          "Not to change the subject, but please use one arm to open the laptop.",
          "Quick favor: lift the laptop's lid with one arm.",
          "I just remembered -- could you open the laptop using one arm?",
          "Hey, real quick, use one arm to raise the laptop's lid.",
          "Setting other things aside, open the laptop with one arm please."
        ],
        "r2_commonsense": [
          "Use one arm to raise the lid of the portable computer the laptop.",
          "Employ one arm to lift the screen cover on the laptop.",
          "With one arm, flip open the top panel of the notebook computer the laptop.",
          "Utilizing one arm, raise the display section of the laptop.",
          "Hinge open the top half of the portable device the laptop using one arm.",
          "Use one arm to unfold the clamshell computing device the laptop.",
          "With one arm, push upward on the screen portion of the laptop.",
          "Employ one arm to swing open the display lid of the laptop.",
          "Deploy one arm to tilt back the upper half of the folding computer the laptop.",
          "Use one arm to pivot the screen panel of the portable workstation the laptop upward.",
          "Lift the hinged display of the notebook the laptop using one arm.",
          "With one arm, raise the flat screen cover of the laptop.",
          "Employ one arm to expose the display by opening the laptop.",
          "Using one arm, unlock and raise the top section of the computing device the laptop.",
          "Use one arm to prop open the folding screen of the laptop.",
          "With one arm, elevate the monitor lid on the laptop.",
          "Employ one arm to separate the two halves of the laptop by lifting the top.",
          "Use one arm to swing upward the screen-bearing half of the laptop.",
          "With one arm, pry open the hinged top of the personal computer the laptop.",
          "Deploy one arm to unveil the keyboard by raising the laptop's lid.",
          "Use one arm to pull back the upper shell of the portable machine the laptop.",
          "Employ one arm to tilt open the display panel of the laptop.",
          "With one arm, angle upward the screen portion of the notebook the laptop.",
          "Use one arm to unseal the clamshell form of the laptop by lifting the lid.",
          "With one arm, hoist the top cover of the computing device the laptop to reveal its screen."
        ],
        "r3_reasoning": [
          "Ensure the laptop's lid is fully raised and the screen is visible.",
          "The goal is for the laptop to be in an open position with its display exposed.",
          "At the end, the laptop should no longer be closed; its lid should be lifted.",
          "Make sure the laptop's screen is now visible and the device is open.",
          "The desired outcome is the laptop fully opened with its display accessible.",
          "After completion, the laptop should be in the open state, with its keyboard and screen both visible.",
          "The final state should have the laptop's lid raised and the screen facing upward.",
          "Verify that the laptop has been opened and its display panel is exposed.",
          "By the end of the task, the laptop must be open, not folded shut.",
          "The result should be the laptop with its lid lifted and the screen unobstructed."
        ]
      },
      "sha256": "de4291024e5a15b4d3fcbff5c611b7e23492e389c79e3e30b366049fff47d9e0",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/open_laptop.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_laptop.py"
    },
    "task_instruction/open_microwave": {
      "full_description": "Use one arm to open the microwave.",
      "schema": "{A} notifies the microwave, {a} notifies the arm to open the microwave",
      "pools": {
        "seen": [
          "Use {a} to pull open the door of {A}.",
          "Pull the handle to open {A}.",
          "Grab the handle and open {A} with {a}.",
          "Open {A} by grasping its handle.",
          "Pull open the door of {A} using {a}.",
          "Pull the door of {A} to open it.",
          "Use {a} to grab and open {A}.",
          "Open {A} by pulling its door with {a}.",
          "Open {A} by pulling its handle.",
          "Pull the handle of {A} to open it.",
          "Pull the door to open {A}.",
          "Grab the handle and open {A}.",
          "Use {a} to pull {A} open.",
          "Engage {a} to open {A}.",
          "Pull and open {A}.",
          "Pull the microwave door to open.",
          "Open {A} by pulling with {a}.",
          "Use the handle to open {A}.",
          "Engage {A} using {a} to open.",
          "Pull the handle to open {A}.",
          "Open {A} using {a}.",
          "Get {A} open.",
          "Access the inside by opening {A}.",
          "Activate the door to open {A}.",
          "Pull to open {A}.",
          "Grip {A}'s handle and pull it open.",
          "Handle {A} and open it with {a}.",
          "Use {a} to engage {A}'s opening mechanism.",
          "Engage {A}'s handle and open it.",
          "Utilize {a} to pull {A} open.",
          "Open the microwave door by using {a}.",
          "Grip and pull the microwave door open.",
          "Pull the handle to open the microwave.",
          "Use {a} to open the microwave door.",
          "Open the microwave door by pulling it.",
          "Lift the microwave door with {a} to open it.",
          "Use {a} to pull the microwave door open.",
          "Pull open the microwave using its handle.",
          "Grab the handle and open the microwave door.",
          "Use {a} to grip and open the microwave.",
          "Open {A} by pulling its handle.",
          "Pull the {A}'s handle using {a}.",
          "Grasp {A}'s handle and pull to open.",
          "Pull the handle of {A} with {a}.",
          "Open {A} by pulling on its handle.",
          "Use {a} to grab and pull {A}.",
          "Pull the handle to open {A}.",
          "Grab and pull {A} using {a}.",
          "Pull {A}'s handle to open it.",
          "Use {a} to open {A} by pulling."
        ],
        "unseen": [
          "Locate {A} and open it using {a}.",
          "Open {A} by pulling its door handle.",
          "Move {a} and open {A}.",
          "Open {A} using {a}.",
          "Use {a} to open {A}.",
          "Pull {A} open with {a}.",
          "Use {a} to pull open the microwave.",
          "Pull the microwave door open with {a}.",
          "Grab {A}'s handle and pull to open it.",
          "Use {a} to pull the handle of {A}."
        ]
      },
      "sha256": "8a353e548865196cd5103aab644cd76eed4a50e139e4ded65545a86d489cfca5",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/open_microwave.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_microwave.py"
    },
    "task_instruction_plus/open_microwave": {
      "full_description": "Use one arm to open the microwave.",
      "schema": "{A} notifies the microwave, {a} notifies the arm to open the microwave",
      "pools": {
        "r1_distraction": [
          "Hey, I know we were in the middle of something, but could you use one arm to open the microwave?",
          "Before we move on, please pull open the microwave using one arm.",
          "The room feels a bit stuffy, but anyway, use one arm to open the microwave.",
          "I was just thinking about the next experiment, but first, open the microwave with one arm.",
          "By the way, whenever you have a moment, use one arm to pull open the microwave.",
          "Sorry to bother you, but please use one arm to open the microwave right now.",
          "I know this comes out of nowhere, but could you open the microwave using one arm?",
          "Oh, I almost forgot -- please pull the microwave's door open with one arm.",
          "This is a bit random, but use one arm to open the microwave for me.",
          "While we are waiting, go ahead and use one arm to open the microwave.",
          "Not to interrupt, but please pull the microwave open using one arm.",
          "Quick request: open the microwave by pulling its door with one arm.",
          "I just recalled we need this -- use one arm to open the microwave.",
          "Hey, real quick, pull open the microwave with one arm.",
          "Let us pause what we were doing and use one arm to open the microwave."
        ],
        "r2_commonsense": [
          "Use one arm to pull open the door of the countertop heating appliance the microwave.",
          "Employ one arm to swing open the food-warming device the microwave.",
          "With one arm, grasp the handle and pull the kitchen reheater the microwave open.",
          "Utilizing one arm, open the door of the electromagnetic cooking box the microwave.",
          "Grip the handle of the compact oven the microwave with one arm and pull it toward you.",
          "Use one arm to tug open the front panel of the radiation-cooking unit the microwave.",
          "With one arm, release the latch and swing open the countertop food heater the microwave.",
          "Employ one arm to pull on the handle of the small kitchen appliance the microwave to open it.",
          "Deploy one arm to access the interior of the microwave by pulling its door ajar.",
          "Use one arm to grab the lever on the microwave and pull the door outward.",
          "With one arm, pry open the heated enclosure the microwave by tugging on its handle.",
          "Employ one arm to unseal the front-loading cooking device the microwave.",
          "Using one arm, open the hinged door of the tabletop food warmer the microwave.",
          "With one arm, pull the latch of the box-shaped heater the microwave to reveal its interior.",
          "Deploy one arm to disengage and open the door of the reheating appliance the microwave.",
          "Use one arm to access the cavity inside the microwave by swinging its door open.",
          "Grasp the handle of the electronic heating unit the microwave using one arm and pull open.",
          "With one arm, pull outward on the front panel of the microwave to open the cooking chamber.",
          "Employ one arm to open the small front-access oven the microwave by its handle.",
          "Use one arm to unfasten and swing open the door of the kitchen appliance the microwave.",
          "With one arm, tug the handle of the food preparation box the microwave to open it.",
          "Deploy one arm to pull open the rectangular heating enclosure the microwave.",
          "Use one arm to reveal the inside of the microwave by pulling its door panel open.",
          "Employ one arm to release and open the front door of the countertop cooker the microwave.",
          "With one arm, grip the front handle of the microwave and pull the door outward to open."
        ],
        "r3_reasoning": [
          "Ensure the microwave's door is fully open and its interior is accessible.",
          "The goal is for the microwave to have its door swung open, revealing the inside cavity.",
          "At the end, the microwave should no longer be closed; its door should be ajar.",
          "Make sure the microwave's door has been pulled open and the interior is exposed.",
          "The desired outcome is the microwave with its front door fully opened.",
          "After completion, the microwave's door should be in the open position.",
          "The final state should have the microwave open so that items can be placed inside.",
          "Verify that the microwave's door has been pulled and is now in the open state.",
          "By the end of the task, the microwave must have its door open and its chamber visible.",
          "The result should be the microwave with an open door, its interior fully revealed."
        ]
      },
      "sha256": "53ee24a6afe778bb8e0e2b045a977d0958cb0843f10ade4f0227fae7e6ab6cbe",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/open_microwave.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/open_microwave.py"
    },
    "task_instruction/pick_diverse_bottles": {
      "full_description": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "schema": "{A} notifies the left bottle to be catched,{B} notifies the right bottle to be catched. arm comes as a literal here",
      "pools": {
        "seen": [
          "Lift {A} and also take hold of {B}.",
          "Catch {A}, then grab {B} too.",
          "Secure both {A} and {B} quickly.",
          "Hold onto {A}, then pick up {B}.",
          "Use one arm for {A}, the other for {B}.",
          "Let each arm grab either {A} or {B}.",
          "Assign one arm to catch {A}, one for {B}.",
          "Use both arms to lift {A} and {B}.",
          "Grab {A} with one arm, {B} with the other.",
          "Each arm should pick up one: {A}, then {B}.",
          "Pick up {A} and then pick up {B}.",
          "Hold {A} with one arm, hold {B} with the other.",
          "Catch {A}, then catch {B}.",
          "Grab {A}, pick up {B}.",
          "Use each arm to lift {A} and {B}.",
          "Hold {A} in one arm, {B} in the other.",
          "Secure {A}, then secure {B}.",
          "Use both arms to pick up {A} and {B}.",
          "Pick up both {A} and {B}.",
          "Catch {A}, grab {B} next.",
          "Grab {A} with one arm, {B} with the other.",
          "Collect {A}, then pick up {B}.",
          "Lift {A} and {B} with separate arms.",
          "Catch both {A} and {B} quickly.",
          "Use one arm for {A}, another for {B}.",
          "Secure {A} and {B} in succession.",
          "With both arms, pick up {A}, then {B}.",
          "Grasp {A} first, then take {B}.",
          "Assign one arm to each of {A} and {B}.",
          "Pick both {A} and {B} one after another.",
          "Grab {A} using one arm and {B} using the other.",
          "Lift both bottles, {A} with one arm, {B} with the other.",
          "One arm grabs {A}; the other arm grabs {B}.",
          "With two arms, catch both {A} and {B}.",
          "Pick up both {A} and {B} together.",
          "Grab and hold {A}, then grab {B}.",
          "Catch {A}, then take hold of {B}.",
          "Pick up {A}, then pick up {B}.",
          "Lift {A}, continue and pick up {B}.",
          "Hold onto {A} and then get {B}.",
          "Lift both {A} and {B} simultaneously.",
          "Hold both {A} and {B}.",
          "Grab {A} and pick up {B}.",
          "Take hold of {A} and {B}.",
          "Use one arm for {A} and the other for {B}.",
          "Catch {A} with one arm, {B} with another arm.",
          "Use both arms to pick up {A} and {B}.",
          "Catch {A} in one arm and {B} in the other arm.",
          "Hold {A} in one arm, catch {B} with the other arm.",
          "Grab {A} using an arm and {B} with the other arm."
        ],
        "unseen": [
          "Grab {A} and {B} at the same time.",
          "Pick up both {A} and {B} together.",
          "Grab {A} with one arm, grab {B} with the other.",
          "Lift {A} using one arm and lift {B} using the other.",
          "Use each arm to grab {A} and {B}.",
          "Pick up {A} and {B} together.",
          "Pick up {A} with one arm, grab {B} with the other.",
          "Use each arm to lift a bottle: {A}, then {B}.",
          "Grab {A} and grab {B} at once.",
          "Pick up {A} and take {B} together."
        ]
      },
      "sha256": "aa337dd698baa257a2baa1ed97b85b92269e40b24382ba3adac1fd6fd3371ce0",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/pick_diverse_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_diverse_bottles.py"
    },
    "task_instruction_plus/pick_diverse_bottles": {
      "full_description": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "schema": "{A} notifies the left bottle to be catched,{B} notifies the right bottle to be catched. arm comes as a literal here",
      "pools": {
        "r1_distraction": [
          "Hey, I know we were just chatting, but could you grab the left bottle with one arm and the right bottle with the other?",
          "Before we get into the next thing, please pick up the left bottle and the right bottle using separate arms.",
          "The overhead light is flickering again, but anyway, grab the left bottle with one arm and the right bottle with the other.",
          "I was just thinking about lunch options, but first, pick up the left bottle and the right bottle with both arms.",
          "By the way, when you are ready, grab the left bottle with one arm and the right bottle with the other.",
          "Sorry for the abrupt request, but please pick up the left bottle and then the right bottle using both arms.",
          "I know this is out of the blue, but could you grab the left bottle and the right bottle simultaneously?",
          "Oh, almost forgot -- use one arm for the left bottle and the other for the right bottle.",
          "This is a bit random, but please pick up the left bottle with one arm and the right bottle with the other.",
          "While we have some time, go ahead and grab both the left bottle and the right bottle using separate arms.",
          "Not to change the topic, but please pick up the left bottle and the right bottle, one in each arm.",
          "Quick task: grab the left bottle in one arm and the right bottle in the other.",
          "I just remembered we need this -- pick up the left bottle and the right bottle with both arms.",
          "Hey, real quick, use one arm for the left bottle and the other arm for the right bottle.",
          "Setting everything else aside, grab the left bottle and the right bottle using both arms."
        ],
        "r2_commonsense": [
          "Grasp the container the left bottle with one manipulator and seize the right bottle with the other.",
          "Use one gripper to lift the vessel the left bottle and the opposite gripper for the right bottle.",
          "Employ separate arms to collect the cylindrical object the left bottle and the other container the right bottle.",
          "With one limb, take hold of the liquid holder the left bottle; with the other, grab the right bottle.",
          "Utilize dual grippers to pick up the flask the left bottle on one side and the right bottle on the other.",
          "Secure the beverage container the left bottle in one hand and the other vessel the right bottle in the second.",
          "Using one appendage, lift the tall container the left bottle; with the opposite, hoist the right bottle.",
          "Assign one manipulator to capture the left bottle and deploy the other for the right bottle.",
          "Grip the cylindrical vessel the left bottle with one arm and clutch the right bottle with the remaining arm.",
          "Collect the narrow container the left bottle via one gripper and the right bottle via the other.",
          "Take the elongated vessel the left bottle in one arm and the companion container the right bottle in the other.",
          "Seize the fluid holder the left bottle with one extremity and the right bottle with the other.",
          "Employ one hand to raise the storage vessel the left bottle and the other to raise the right bottle.",
          "With separate manipulators, hoist the tubular object the left bottle and the other receptacle the right bottle.",
          "Lift the capped container the left bottle in one arm and the stoppered vessel the right bottle in the other.",
          "Use one arm to snag the cylindrical holder the left bottle and the opposite to snag the right bottle.",
          "Clasp the tall receptacle the left bottle with one gripper and the right bottle with the second gripper.",
          "Deploy one limb to fetch the fluid container the left bottle and the other to fetch the right bottle.",
          "Grasp the left bottle with one robotic arm and seize the other vessel the right bottle with the alternate arm.",
          "Using both manipulators independently, pick up the container the left bottle and the container the right bottle.",
          "Capture the storage cylinder the left bottle in one grip and the companion vessel the right bottle in the other.",
          "Take hold of the narrow vessel the left bottle using one arm while grabbing the right bottle with the other.",
          "Employ one extremity for the elongated container the left bottle and the other for the vessel the right bottle.",
          "With dual arms, collect the capped receptacle the left bottle on one side and the right bottle on the other.",
          "Use alternating grippers to hoist the cylindrical object the left bottle and the other object the right bottle."
        ],
        "r3_reasoning": [
          "Ensure both the left bottle and the right bottle are held, one in each arm, off the table surface.",
          "The goal is for the left bottle and the right bottle to each be gripped by a separate arm simultaneously.",
          "At the end, both the left bottle and the right bottle should be lifted and held, not resting on the table.",
          "Make sure the left bottle is in one arm and the right bottle is in the other, both elevated.",
          "The desired outcome is both the left bottle and the right bottle securely grasped by different arms.",
          "After completion, neither the left bottle nor the right bottle should be on the table; both should be held aloft.",
          "The final state should have the left bottle in one gripper and the right bottle in the other, both off the surface.",
          "Verify that both the left bottle and the right bottle have been picked up and are held by separate arms.",
          "By the end of the task, the left bottle must be in one arm and the right bottle in the other.",
          "The result should be both the left bottle and the right bottle simultaneously held by the two arms."
        ]
      },
      "sha256": "decf1b91105d5563837bae4dff3da1d91ca476b814cc20cd18296275a3903067",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/pick_diverse_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_diverse_bottles.py"
    },
    "task_instruction/pick_dual_bottles": {
      "full_description": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "schema": "{A} notifies one bottle to be catched,{B} notifies the other bottle to be catched. arm comes as a literal here",
      "pools": {
        "seen": [
          "Take {A} with one arm, hold {B} too.",
          "Use each arm to grab {A} and {B}.",
          "Lift {A} in one hand and {B} in the other.",
          "Pick up {A} and {B} using separate hands.",
          "Catch {A} with one arm, then grab {B}.",
          "Take {A}, then use the other arm for {B}.",
          "Hold {A} in one hand and {B} in another.",
          "Grab {A} with one hand, then reach for {B}.",
          "Lift {A} with one arm and {B} with the other.",
          "Hold {A} and {B} using both arms separately.",
          "Hold {A} and {B} using both arms.",
          "Grab {A} first, then grab {B} second.",
          "Catch {A}, then catch {B} after.",
          "Pick {A} with one hand, pick {B} next.",
          "Reach for {A}, then grab {B}.",
          "Grasp {A} and {B} with both arms.",
          "Use each arm to hold {A} and {B}.",
          "Catch {A} first, then catch {B}.",
          "Pick {A} with one hand, {B} with another.",
          "Grab {A} with an arm, grab {B} next.",
          "Lift {A} and {B} simultaneously with both arms.",
          "Catch {A}, then catch {B} without mentioning arms.",
          "Raise {A} first, then grab {B} next.",
          "Hold {A} in one hand, then hold {B} in the other.",
          "Handle {A} and {B} together without arm details.",
          "Pick {A} first, then pick {B} without mentioning arms.",
          "Catch {A} with one hand, catch {B} with the other.",
          "Grab and lift {A}, then lift {B} next.",
          "Lift {A} in one arm and {B} in the other.",
          "Handle {A}, then handle {B} without arm specifics.",
          "Secure {A} in one hand, {B} in other.",
          "Hold {A} and {B}, one in each hand.",
          "Pick up {A} and {B} together.",
          "Grab {A} and {B} one by one.",
          "Lift both {A} and {B} bottles.",
          "Grab the bottles {A} and {B}.",
          "Pick {A} first and then {B}.",
          "Hold {A} and {B} separately.",
          "Lift bottle {A}, then bottle {B}.",
          "Catch {A} in one hand and {B} too.",
          "Hold {A} in one hand, {B} in another.",
          "Grab {A} with one arm, {B} with the other.",
          "Secure {A} and {B} using separate hands.",
          "Pick {A} in one arm and {B} in the other.",
          "Lift {A} and {B} together with both hands.",
          "Use one arm for {A} and the other for {B}.",
          "Grasp {A} and {B} at the same time.",
          "Catch {A} in one arm, {B} in the other.",
          "Hold onto {A} and {B} using both hands.",
          "Use separate arms to pick {A} and {B}."
        ],
        "unseen": [
          "Pick {A}, then pick {B}.",
          "Hold {A} in one hand, {B} in the other.",
          "Grab {A} and {B} with arms.",
          "Use one arm to grab {A}, the other for {B}.",
          "Pick up {A} and {B} using both arms.",
          "Grab {A} with one arm, grab {B} with the other.",
          "Pick {A} with one arm, {B} with the other.",
          "Lift {A} and {B} using both arms.",
          "Pick up {A} and {B} simultaneously.",
          "Take hold of {A} and {B} at once."
        ]
      },
      "sha256": "4c2dcffd9e744b08ed25b45d910e8630842a4cea8d3b767e488d0846cf3026d4",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/pick_dual_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_dual_bottles.py"
    },
    "task_instruction_plus/pick_dual_bottles": {
      "full_description": "pick up one bottle with one arm, and pick up another bottle with the other arm",
      "schema": "{A} notifies one bottle to be catched,{B} notifies the other bottle to be catched. arm comes as a literal here",
      "pools": {
        "r1_distraction": [
          "Hey, I know we were doing something else, but could you pick up one bottle and the other bottle with separate arms?",
          "Before we proceed to the next step, please grab one bottle with one arm and the other bottle with the other.",
          "The clock on the wall seems off, but anyway, pick up one bottle and the other bottle using both arms.",
          "I was just looking at the ceiling, but first, grab one bottle in one hand and the other bottle in the other.",
          "By the way, whenever you can, use one arm to get one bottle and the other for the other bottle.",
          "Sorry for the sudden request, but please pick up one bottle with one arm and the other bottle with the other.",
          "I know this is random, but could you grab both one bottle and the other bottle at the same time?",
          "Oh, one more thing -- use separate arms to pick up one bottle and the other bottle.",
          "This might seem abrupt, but please lift one bottle and the other bottle using both arms.",
          "While we are between experiments, go ahead and grab one bottle with one arm and the other bottle with the other.",
          "Not to switch topics, but please pick up one bottle and the other bottle, each in a different arm.",
          "Quick task here: grab one bottle and the other bottle with separate arms.",
          "I just realized we still need to do this -- pick up one bottle and the other bottle together.",
          "Hey, real quick, use one arm for one bottle and the other for the other bottle.",
          "Putting other things on hold, grab one bottle in one arm and the other bottle in the other."
        ],
        "r2_commonsense": [
          "Grasp the container one bottle with one manipulator and seize the other bottle with the alternate one.",
          "Use one gripper to hoist the vessel one bottle and the other gripper for the vessel the other bottle.",
          "Employ separate arms to collect the cylindrical holder one bottle and the other container the other bottle.",
          "With one limb, take hold of one bottle; with the remaining limb, grab the other bottle.",
          "Utilize both grippers to pick up the flask one bottle on one side and the other bottle on the other.",
          "Secure the liquid container one bottle in one hand and the second vessel the other bottle in the other hand.",
          "Using one appendage, lift one bottle; using the opposite appendage, hoist the other bottle.",
          "Assign one manipulator to capture the vessel one bottle and the other to capture the other bottle.",
          "Grip the cylindrical object one bottle with one arm and clutch the other object the other bottle with the second arm.",
          "Collect the narrow container one bottle via one gripper and the other bottle via the alternate gripper.",
          "Take the elongated holder one bottle in one arm and the companion vessel the other bottle in the other.",
          "Seize the fluid container one bottle with one extremity and the other bottle with the other extremity.",
          "Employ one hand to raise one bottle and the other hand to raise the other bottle.",
          "With separate manipulators, hoist the tubular vessel one bottle and the receptacle the other bottle.",
          "Lift the capped container one bottle in one arm and the sealed vessel the other bottle in the other.",
          "Use one arm to snag one bottle and the opposite arm to snag the other bottle.",
          "Clasp the tall receptacle one bottle with one gripper and the other receptacle the other bottle with the second.",
          "Deploy one limb to fetch one bottle and the other limb to fetch the other bottle.",
          "Grasp one bottle with one robotic arm and seize the other bottle with the alternate robotic arm.",
          "Using both manipulators independently, pick up one bottle and the other bottle from the surface.",
          "Capture the storage cylinder one bottle in one grip and the other bottle in the other grip.",
          "Take hold of the narrow vessel one bottle using one arm while grabbing the other vessel the other bottle.",
          "Employ one extremity for one bottle and the other extremity for the other bottle.",
          "With dual arms, collect one bottle on one side and the other bottle on the other side.",
          "Use alternating grippers to hoist the vessel one bottle and the companion vessel the other bottle."
        ],
        "r3_reasoning": [
          "Ensure both one bottle and the other bottle are held aloft, one in each arm.",
          "The goal is for one bottle and the other bottle to each be grasped by a different arm simultaneously.",
          "At the end, both one bottle and the other bottle should be picked up and held, not on the table.",
          "Make sure one bottle is gripped by one arm and the other bottle by the other, both elevated.",
          "The desired outcome is both one bottle and the other bottle securely held by separate arms.",
          "After completion, neither one bottle nor the other bottle should remain on the surface; both should be in the grippers.",
          "The final state should have one bottle in one arm and the other bottle in the other arm, both lifted.",
          "Verify that both one bottle and the other bottle have been picked up and are each in a different arm.",
          "By the end of the task, one bottle must be in one gripper and the other bottle in the other.",
          "The result should be both one bottle and the other bottle simultaneously held off the table by separate arms."
        ]
      },
      "sha256": "70fc4198ec735ee204ab6ab93f89845cfcdc582f7c1e3c573e5084f778db2124",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/pick_dual_bottles.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/pick_dual_bottles.py"
    },
    "task_instruction/place_a2b_left": {
      "full_description": "use appropriate arm to place object A on the left of object B",
      "schema": "{A} notifies the object A, {B} notifies the object B, {a} notifies the arm to grab the object A",
      "pools": {
        "seen": [
          "Grab {A} using {a} and place left of {B}.",
          "Place {A} on the left of {B}.",
          "With {a}, position {A} left of {B}.",
          "Position {A} to the left of {B}.",
          "Using {a}, move {A} left of {B}.",
          "Move {A} to the left of {B}.",
          "Use {a} and place {A} left of {B}.",
          "Set {A} left of {B}.",
          "With {a}, set {A} on the left of {B}.",
          "Carefully position {A} to the left of {B}.",
          "Place {A} left of {B} using {a}",
          "Move {A} to the left of {B}",
          "Put {A} on the left side of {B}",
          "Grab {A} with {a} and set left of {B}",
          "Shift {A} leftward to the side of {B}",
          "Use {a} to move {A} to {B}'s left",
          "Adjust {A} to rest on {B}'s left",
          "Use {a} to position {A} left of {B}",
          "Place {A} carefully to {B}'s left",
          "Grab {A} using {a} and move left of {B}",
          "Use {a}, move {A} left of {B}",
          "Position {A} to the left of {B}",
          "Place {A} exactly to the left of {B}",
          "Using {a}, put {A} on left of {B}",
          "Set {A} carefully on the left of {B}",
          "Move {A} to the left side of {B}",
          "Place {A} to rest left of {B} using {a}",
          "With {a}, position {A} left of {B}",
          "Set {A} directly to the left of {B}",
          "Using {a}, place {A} on the left of {B}",
          "Move {A} to the left of {B}.",
          "Grab {A} with {a} and shift it left of {B}.",
          "Place {A} directly to the left of {B}.",
          "With {a}, move {A} to the left side of {B}.",
          "Shift {A} and position it left of {B}.",
          "Use {a} to move {A} to the left of {B}.",
          "Set {A} on the left side of {B}.",
          "Grab {A} using {a} and place it left of {B}.",
          "Position {A} carefully to the left of {B}.",
          "Using {a}, set {A} to the left of {B}.",
          "Put {A} to the left of {B}",
          "Use {a} to set {A} left of {B}",
          "Drop {A} on the left side of {B}",
          "With {a}, stick {A} left of {B}",
          "Set {A} to the left of {B}",
          "Place {A} left of {B} using {a}",
          "Stick {A} on the left of {B}",
          "Use {a} to put {A} left of {B}",
          "Drop {A} to the left of {B}",
          "With {a}, place {A} left of {B}"
        ],
        "unseen": [
          "Use {a} to put {A} left of {B}.",
          "Set {A} on the left side of {B}.",
          "Set {A} to the left of {B}",
          "Position {A} on the left of {B}",
          "Grab {A} and place left of {B}",
          "Set {A} down to the left of {B}",
          "Pick {A} and set it left of {B}.",
          "Use {a} to place {A} left of {B}.",
          "Set {A} on the left side of {B}",
          "Place {A} to the left of {B} using {a}"
        ]
      },
      "sha256": "4b8a3c065fc3b37412efb393e54149f7ac35f24a275b87657383a2af727a34e9",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_a2b_left.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_left.py"
    },
    "task_instruction_plus/place_a2b_left": {
      "full_description": "use appropriate arm to place object A on the left of object B",
      "schema": "{A} notifies the object A, {B} notifies the object B, {a} notifies the arm to grab the object A",
      "pools": {
        "r1_distraction": [
          "Hey, before we start, could you please place the first object on the left of the second object?",
          "I was just thinking about what to do next, but first grab the first object and move it left of the second object.",
          "The weather is nice today, anyway, position the first object to the left of the second object.",
          "By the way, have you noticed anything unusual? Just place the first object left of the second object using one arm.",
          "Before we continue with the other tasks, could you move the first object to the left of the second object?",
          "I'm curious about something, but first set the first object on the left of the second object.",
          "You know, I was wondering about that earlier, anyway, use one arm to place the first object left of the second object.",
          "Just a quick thing - position the first object to the left of the second object using one arm.",
          "Speaking of which, can you place the first object on the left side of the second object?",
          "While we're at it, grab the first object with one arm and shift it left of the second object.",
          "By the way, I forgot to mention - put the first object left of the second object using one arm.",
          "Before moving on, could you set the first object carefully to the left of the second object?",
          "Just so you know, we need to move the first object to the left of the second object.",
          "One more thing - position the first object left of the second object using one arm.",
          "Before we finish here, place the first object on the left side of the second object."
        ],
        "r2_commonsense": [
          "Grasp the first object using one arm and deposit it to the left of the second object.",
          "Secure the first object with one arm and position it leftward relative to the second object.",
          "Retrieve the first object and transfer it to the left side of the second object.",
          "Take the first object with one arm and relocate it left of the second object.",
          "Seize the first object using one arm and arrange it on the second object's left flank.",
          "Obtain the first object and displace it leftward from the second object.",
          "Capture the first object with one arm and establish it left of the second object.",
          "Lift the first object using one arm and situate it to the second object's left.",
          "Clutch the first object with one arm and reposition it left of the second object.",
          "Acquire the first object and convey it to the left of the second object.",
          "Hold the first object using one arm and shift it leftward beside the second object.",
          "Snatch the first object with one arm and place it on the left flank of the second object.",
          "Retrieve the first object using one arm and orient it to the second object's left.",
          "Grasp the first object with one arm and deposit it leftward of the second object.",
          "Pick up the first object using one arm and place it to the second object's left side.",
          "Grab the first object with one arm and establish it left of the second object.",
          "Take hold of the first object with one arm and position it left-adjacent to the second object.",
          "Secure the first object using one arm and move it onto the second object's left boundary.",
          "Obtain the first object with one arm and situate it on the leftmost side of the second object.",
          "Seize the first object and transfer it to the second object's left region using one arm.",
          "Engage the first object with one arm and reposition it left-side relative to the second object.",
          "Extract the first object using one arm and place it to the left of the second object.",
          "Capture the first object with one arm and align it with the second object's left extent.",
          "Lift the first object and deposit it on the left flank of the second object using one arm.",
          "Clutch the first object using one arm and establish it left of the second object."
        ],
        "r3_reasoning": [
          "Ensure the first object ends up positioned to the left of the second object.",
          "Make sure the first object is placed on the left side of the second object.",
          "Position the first object such that it rests left of the second object.",
          "Arrange things so the first object is left of the second object.",
          "Verify that the first object ends up on the second object's left.",
          "Achieve a state where the first object is left of the second object.",
          "Establish the first object in a leftward position relative to the second object.",
          "Result in the first object being positioned to the left of the second object.",
          "Confirm the first object is on the left side of the second object.",
          "Conclude with the first object left of the second object."
        ]
      },
      "sha256": "96acc202c73cec7758ce020d133f3bd9ace5792887a57c534c53ebba72c18efe",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_a2b_left.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_left.py"
    },
    "task_instruction/place_a2b_right": {
      "full_description": "use appropriate arm to place object A on the right of object B",
      "schema": "{A} notifies the object A, {B} notifies the object B, {a} notifies the arm to grab the object A",
      "pools": {
        "seen": [
          "Use {a} to set {A} right of {B}.",
          "Position {A} to the right of {B}.",
          "Move {A} to {B}'s right position.",
          "Grab {A} with {a} and place it right of {B}.",
          "Ensure {A} is placed on the right of {B}.",
          "Grab {A} using {a} and set it to {B}'s right.",
          "Move {A} and place it carefully to {B}'s right.",
          "Take {A} with {a} and position it right of {B}.",
          "Set {A} neatly on the right side of {B}.",
          "Grab {A} using {a}, then move it to {B}'s right.",
          "Set {A} on the right side of {B}.",
          "Use {a} to position {A} to {B}'s right.",
          "Move {A} and place it to {B}'s right.",
          "Put {A} using {a} on the right of {B}.",
          "Set {A} right next to {B}'s right side.",
          "Grasp {A} with {a} and move it to {B}'s right.",
          "Place {A} directly on {B}'s right.",
          "Using {a}, position {A} to the right of {B}.",
          "Set {A} carefully on {B}'s right side.",
          "Grab {A} using {a} and place it right of {B}.",
          "Use {a} to place {A} right of {B}.",
          "Position {A} directly to the right of {B}.",
          "Move {A} and set it to {B}'s right.",
          "With {a}, move {A} to {B}'s right.",
          "Set {A} down on {B}'s right side.",
          "Bring {A} to the right position of {B}.",
          "Using {a}, position {A} to the right of {B}.",
          "Place {A} precisely to the right of {B}.",
          "Move {A} using {a} to {B}'s right position.",
          "Set {A} properly on the right of {B}.",
          "Set {A} on {B}'s right side",
          "Position {A} to {B}'s right using {a}",
          "Shift {A} to the right of {B}",
          "Move {A} right of {B} with {a}",
          "Stick {A} on {B}'s right side",
          "Place {A} using {a} at {B}'s right",
          "Position {A} at the right side of {B}",
          "Move {A} to {B}'s right using {a}",
          "Put {A} at the right of {B}",
          "Set {A} using {a} at {B}'s right",
          "Use {a} to place {A} right of {B}.",
          "Position {A} to the right of {B}.",
          "Move {A} to the right beside {B}.",
          "Ensure {A} is on the right of {B}.",
          "Direct {a} to place {A} right of {B}.",
          "Put {A} exactly to the right of {B}.",
          "Use {a} to set {A} right of {B}.",
          "Place {A} on the right of {B}.",
          "Grab {A} with {a} and set right of {B}.",
          "Make sure {A} is placed right of {B}."
        ],
        "unseen": [
          "Put {A} to the right of {B}.",
          "Place {A} on {B}'s right side.",
          "Put {A} to the right of {B}.",
          "Grab {A} and place it right of {B}.",
          "Place {A} on the right of {B}.",
          "Set {A} to the right of {B}.",
          "Put {A} to the right of {B}",
          "Place {A} rightward of {B} using {a}",
          "Put {A} to the right of {B}.",
          "Set {A} on the right of {B}."
        ]
      },
      "sha256": "c3466a444a36faf555bc16bf30b974c9a017ca2fa1c797887669dc6f55ca47b7",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_a2b_right.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_right.py"
    },
    "task_instruction_plus/place_a2b_right": {
      "full_description": "use appropriate arm to place object A on the right of object B",
      "schema": "{A} notifies the object A, {B} notifies the object B, {a} notifies the arm to grab the object A",
      "pools": {
        "r1_distraction": [
          "Hey, before we get started, can you place the first object on the right of the second object?",
          "I was thinking about something else, but first position the first object to the right of the second object.",
          "The sun is shining brightly today, anyway, move the first object right of the second object using one arm.",
          "Just to let you know, we should place the first object on the right side of the second object.",
          "Before proceeding further, could you set the first object to the right of the second object?",
          "I'm wondering about the next step, but first grab the first object and place it right of the second object.",
          "You know, it's getting late, anyway, use one arm to position the first object right of the second object.",
          "One moment please - could you move the first object to the second object's right using one arm?",
          "Speaking of placement, can you put the first object on the right of the second object?",
          "While thinking about it, shift the first object with one arm to the right of the second object.",
          "By the way, I should mention - set the first object on the second object's right side.",
          "Before we move on, position the first object carefully to the right of the second object.",
          "Just a reminder, we need the first object to be right of the second object.",
          "One more request - place the first object right of the second object using one arm.",
          "Before finishing, put the first object on the right side of the second object."
        ],
        "r2_commonsense": [
          "Grasp the first object using one arm and deposit it to the right of the second object.",
          "Secure the first object with one arm and position it rightward relative to the second object.",
          "Retrieve the first object and transfer it to the right side of the second object.",
          "Take the first object with one arm and relocate it right of the second object.",
          "Seize the first object using one arm and arrange it on the second object's right flank.",
          "Obtain the first object and displace it rightward from the second object.",
          "Capture the first object with one arm and establish it right of the second object.",
          "Lift the first object using one arm and situate it to the second object's right.",
          "Clutch the first object with one arm and reposition it right of the second object.",
          "Acquire the first object and convey it to the right of the second object.",
          "Hold the first object using one arm and shift it rightward beside the second object.",
          "Snatch the first object with one arm and place it on the right flank of the second object.",
          "Retrieve the first object using one arm and orient it to the second object's right.",
          "Grasp the first object with one arm and deposit it rightward of the second object.",
          "Pick up the first object using one arm and place it to the second object's right side.",
          "Grab the first object with one arm and establish it right of the second object.",
          "Take hold of the first object with one arm and position it right-adjacent to the second object.",
          "Secure the first object using one arm and move it onto the second object's right boundary.",
          "Obtain the first object with one arm and situate it on the rightmost side of the second object.",
          "Seize the first object and transfer it to the second object's right region using one arm.",
          "Engage the first object with one arm and reposition it right-side relative to the second object.",
          "Extract the first object using one arm and place it to the right of the second object.",
          "Capture the first object with one arm and align it with the second object's right extent.",
          "Lift the first object and deposit it on the right flank of the second object using one arm.",
          "Clutch the first object using one arm and establish it right of the second object."
        ],
        "r3_reasoning": [
          "Ensure the first object ends up positioned to the right of the second object.",
          "Make sure the first object is placed on the right side of the second object.",
          "Position the first object such that it rests right of the second object.",
          "Arrange things so the first object is right of the second object.",
          "Verify that the first object ends up on the second object's right.",
          "Achieve a state where the first object is right of the second object.",
          "Establish the first object in a rightward position relative to the second object.",
          "Result in the first object being positioned to the right of the second object.",
          "Confirm the first object is on the right side of the second object.",
          "Conclude with the first object right of the second object."
        ]
      },
      "sha256": "98ee542f2fd7ffc1f81f855fc782922b84f2f2c727de9f590a131f01966190da",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_a2b_right.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_a2b_right.py"
    },
    "task_instruction/place_bread_basket": {
      "full_description": "if there is one bread on the table, use one arm to grab the bread and put it in the basket, if there are two breads on the table, use two arms to simultaneously!!! grab up two breads and put them in the basket",
      "schema": "{A} notifies the basket, {B} notifies the first bread(or the only bread if there is only one bread), {C} notifies the second bread(if there are two breads), {a} notifies the arm to grab the bread(may be left, right, or dual)",
      "pools": {
        "seen": [
          "Pick up {B} and put it in {A}.",
          "Use {a} to grab {B} and drop it inside {A}.",
          "Grab {B} with one hand and set it in {A}.",
          "Pick up both {B} and {C}, then place them in {A}.",
          "Simultaneously grab {B} and {C} using {a}, then drop them in {A}.",
          "Take {B} and {C} together and place them into {A}.",
          "Lift {B} and {C} at once with {a}, then set them in {A}.",
          "Pick both breads and place them into {A}.",
          "Use {a} to grab both breads, then put them in {A}.",
          "Grab {B} and {C} quickly and drop them into {A}.",
          "Pick up {B} and drop it in {A}.",
          "Use both {a} to grab {B} and {C}.",
          "Pick {B} and {C} and set them in {A}.",
          "Use {a} to place {B} and {C} into {A}.",
          "Pick {B} and put it into {A}.",
          "Grab {B} with {a} and drop it in {A}.",
          "Grab two breads {B} and {C} and place in {A}.",
          "Simultaneously use {a} to drop {B} and {C} in {A}.",
          "Pick {B} and move it to {A}.",
          "Grab both {B} and {C} with {a} and place in {A}.",
          "Lift {B} and transfer to {A}.",
          "Move {B} to {A} using one arm.",
          "Grab {B}, drop it into {A}.",
          "Use two arms to grab {B} and {C}.",
          "Pick {B} and {C}, place them in {A}.",
          "Simultaneously grab {B} and {C}, drop in {A}.",
          "Move {B} and {C} at once into {A}.",
          "With both arms, grab {B} and {C}.",
          "Shift {B} and {C} together to {A}.",
          "Put {B} and {C} into {A} using two arms.",
          "Lift {B} and set it in {A}.",
          "Put {B} into {A} using an arm.",
          "Take {B} and {C} then place in {A}.",
          "Use two arms and set {B}, {C} in {A}.",
          "Grab both {B} and {C}, drop into {A}.",
          "Lift {B} and {C} with two arms, put in {A}.",
          "Put {B} into {A} after grabbing it.",
          "Grab {B} with an arm and set in {A}.",
          "Take {B} and {C}, place them inside {A}.",
          "Use both arms to move {B}, {C} to {A}.",
          "Use {a} to grab {B} for {A}",
          "Drop {B} into {A}",
          "Simultaneously grab {B} and {C}",
          "Move {B} and {C} to {A}",
          "Use {a} to pick and place {B} {C}",
          "Shift {B} and {C} into {A}",
          "Pick {B} and {C} for the {A}",
          "Grab {B} for {A} with {a}",
          "Take {B} and {C} to {A}",
          "Place {B} and {C} in {A} using {a}"
        ],
        "unseen": [
          "Grab {B} and drop it into {A}.",
          "Use {a} to pick up {B}, then place it in {A}.",
          "Grab {B} and put it in {A}.",
          "Use {a} to pick {B} and place in {A}.",
          "Pick {B} and place it in {A}.",
          "Use one arm to grab {B}, drop in {A}.",
          "Grab {B} and drop it into {A}.",
          "Grab {B} with one arm, place in {A}.",
          "Pick {B} and drop it in {A}",
          "Place {B} into {A} using {a}",
          "Grab {B} and {C} and drop them into {A}.",
          "Use {a} to pick up {B} and {C}, then place them in {A}.",
          "Grab {B} and {C} and put them in {A}.",
          "Use {a} to pick {B} and {C} and place in {A}.",
          "Pick {B} and {C} and place them in {A}.",
          "Use one arm to grab {B} and {C}, drop in {A}.",
          "Grab {B} and {C} and drop it into {A}.",
          "Grab {B} and {C} with two arms, place in {A}.",
          "Place {B} and {C} into {A} using {a}"
        ]
      },
      "sha256": "5c15c295a24599e674bbc8659f9c0ab30de6f5e9cc186852c5a7d230393ce48c",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_bread_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_basket.py"
    },
    "task_instruction_plus/place_bread_basket": {
      "full_description": "if there is one bread on the table, use one arm to grab the bread and put it in the basket, if there are two breads on the table, use two arms to simultaneously!!! grab up two breads and put them in the basket",
      "schema": "{A} notifies the basket, {B} notifies the first bread(or the only bread if there is only one bread), {C} notifies the second bread(if there are two breads), {a} notifies the arm to grab the bread(may be left, right, or dual)",
      "pools": {
        "r1_distraction": [
          "Hey, before we start, could you please pick up the bread and drop it in the basket?",
          "I was just thinking about lunch, but first grab the bread with one arm and put it in the basket.",
          "The morning is fresh, anyway, use one arm to pick the bread and place it inside the basket.",
          "Before we continue, could you put both the bread and the second bread in the basket using one arm?",
          "I'm wondering what's next, but first take the bread and drop it into the basket.",
          "Speaking of which, can you grab the bread and the second bread simultaneously and set them in the basket?",
          "You know, it's getting crowded here, anyway, pick the bread and the second bread and place them in the basket.",
          "Just a quick task - put the bread into the basket using one arm.",
          "Before finishing up, could you move the bread and the second bread to the basket?",
          "One more thing to do - lift the bread and the second bread and place them in the basket.",
          "By the way, I forgot to mention - use one arm to grab the bread for the basket.",
          "Before moving on, pick the bread and place it in the basket.",
          "Just so you're aware, we need the bread and the second bread in the basket.",
          "One moment - grab both the bread and the second bread and drop them in the basket.",
          "Before we leave, transfer the bread into the basket."
        ],
        "r2_commonsense": [
          "Seize the baked dough product the bread using one arm and deposit it into the woven container the basket.",
          "Grasp the bread with one arm and transfer it into the receptacle the basket.",
          "Obtain the baked product the bread and place it inside the storage vessel the basket.",
          "Capture the bread using one arm and relocate it into the basket-like container the basket.",
          "Retrieve the bread item the bread with one arm and set it inside the basket.",
          "Take the edible item the bread and position it within the woven the basket.",
          "Secure both baked items the bread and the second bread using dual arms and deposit them into the basket.",
          "Grasp the two bread products the bread and the second bread simultaneously with one arm and place them in the basket.",
          "Obtain items the bread and the second bread using both arms and transfer them into the basket.",
          "Capture both the bread and the second bread together and relocate them into the storage the basket.",
          "Retrieve the two pieces of bread the bread and the second bread and establish them within the basket.",
          "Acquire item the bread with one arm and position it inside the container the basket.",
          "Snatch the bread using one arm and place it within the woven receptacle the basket.",
          "Lift the bread item the bread and drop it into the basket the basket.",
          "Hold the bread using one arm and shift it into the interior of the basket.",
          "Engage the bread with one arm and reposition it within the basket.",
          "Extract the bread using one arm and place it inside the basket the basket.",
          "Capture the second bread with one arm and align it with the bread inside the basket.",
          "Lift both the bread and the second bread and deposit them within the basket.",
          "Clutch the two loaves the bread and the second bread and establish them in the basket.",
          "Pick up the bread using one arm and place it to rest in the basket.",
          "Seize the second bread and transfer it to the basket using one arm.",
          "Engage both the bread and the second bread with dual one arm and drop them into the basket.",
          "Extract the bread using one arm and establish it within the basket the basket.",
          "Secure both bread items the bread and the second bread using one arm and position them in the basket."
        ],
        "r3_reasoning": [
          "Ensure the bread ends up inside the basket.",
          "Make sure both the bread and the second bread are positioned within the basket.",
          "Arrange things so the bread rests in the basket.",
          "Verify that the bread is deposited inside the basket.",
          "Achieve a state where the second bread is contained in the basket.",
          "Establish the bread and the second bread within the interior of the basket.",
          "Result in the bread being placed inside the basket.",
          "Confirm both the bread and the second bread are secured in the basket.",
          "Conclude with the bread resting in the basket.",
          "Position the bread and the second bread such that they occupy the basket."
        ]
      },
      "sha256": "0e43d3b37567d0e0ab080e88f20cd4e97bc4e59891979376254d5e897fd04ed0",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_bread_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_basket.py"
    },
    "task_instruction/place_bread_skillet": {
      "full_description": "if there is one bread on the table, use one arm to grab the bread and put it into the skillet",
      "schema": "{A} notifies the skillet, {B} notifies the bread, {a} notifies the arm to grab the bread",
      "pools": {
        "seen": [
          "Grab {B} and place it inside {A}",
          "Pick up {B} with {a} and drop it in {A}",
          "Place {B} from the table into {A}",
          "Lift {B} using {a} and move it to {A}",
          "Move {B} into {A} from the table",
          "Pick {B} with {a} and set it in {A}",
          "Transfer {B} into {A} from the table",
          "Grab {B} using {a} and place it in {A}",
          "Take {B} and place it inside {A}",
          "Use {a} to pick {B} and put it in {A}",
          "Use {a} to grab {B} for {A}",
          "Place {B} into {A} using {a}",
          "Take {B} and set it into {A}",
          "Move {B} to {A} using {a}",
          "Pick up {B} and put it in {A}",
          "Grab {B} with {a} and place in {A}",
          "Use {a} to pick {B} up for {A}",
          "Set {B} into {A} after grabbing",
          "Put {B} into {A} after grabbing it",
          "Take {B} with {a} and drop into {A}",
          "Move {B} from table into {A}",
          "Use {a} to place {B} into {A}",
          "Lift {B} and drop it into {A}",
          "Pick {B} and transfer it to {A}",
          "Take {B} off the table into {A}",
          "Use {a} to move {B} into {A}",
          "Grab {B} and drop it into {A}",
          "Use {a} to grab {B} for {A}",
          "Take {B} and place it inside {A}",
          "Use {a} to pick {B} for {A}",
          "Pick up {B} and place it in {A}.",
          "Use {a} to set {B} into {A}.",
          "Take {B} and put it in {A}.",
          "Place {B} into {A} with {a}.",
          "Grab {B} from the table and set it in {A}.",
          "Pick {B} up using {a} and drop it in {A}.",
          "Put {B} into {A}.",
          "Grab {B} and place it inside {A}.",
          "Use {a} to move {B} and set it into {A}.",
          "Pick {B} off the table and place it in {A}.",
          "Take {B} and drop it into {A}.",
          "Use {a} to grab {B} and set it in {A}.",
          "Grab {B} and stick it in {A}.",
          "Use {a} to pick {B} and place it into {A}.",
          "Lift {B} and drop it into {A}.",
          "Use {a} to take {B} and move it into {A}.",
          "Pick {B} and set it into {A}.",
          "Use {a} to lift {B} and place it into {A}.",
          "Take {B} and put it in {A}.",
          "Use {a} to stick {B} into {A}."
        ],
        "unseen": [
          "Take {B} and put it in {A}",
          "Use {a} to grab {B} and set it in {A}",
          "Grab {B} and place it in {A}",
          "Pick up {B} and drop it into {A}",
          "Pick {B} up and place it in {A}",
          "Grab {B} and set it in {A}",
          "Grab {B} and drop it into {A}.",
          "Move {B} to {A} using {a}.",
          "Grab {B} and place it into {A}.",
          "Use {a} to move {B} to {A}."
        ]
      },
      "sha256": "d7adad5b48391d0b12edb59642dfa52f67eadf586515a88451f830fa4067a805",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_bread_skillet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_skillet.py"
    },
    "task_instruction_plus/place_bread_skillet": {
      "full_description": "if there is one bread on the table, use one arm to grab the bread and put it into the skillet",
      "schema": "{A} notifies the skillet, {B} notifies the bread, {a} notifies the arm to grab the bread",
      "pools": {
        "r1_distraction": [
          "Hey, before we start, could you please grab the bread and put it in the skillet?",
          "I was thinking about cooking, anyway, use one arm to pick the bread and drop it in the skillet.",
          "The day is moving along, but first take the bread and place it inside the skillet.",
          "Before we move forward, could you transfer the bread into the skillet?",
          "I'm wondering about the next step, but first grab the bread with one arm for the skillet.",
          "Speaking of which, can you set the bread inside the skillet?",
          "You know, we're making progress, anyway, lift the bread and place it in the skillet.",
          "Just a quick task - move the bread to the skillet using one arm.",
          "Before finishing, could you drop the bread into the skillet?",
          "One more step - pick the bread and put it in the skillet.",
          "By the way, I should mention - transfer the bread into the cooking vessel the skillet.",
          "Before moving on, use one arm to place the bread inside the skillet.",
          "Just so you're aware, we need the bread in the skillet.",
          "One moment - grab the bread and drop it in the skillet.",
          "Before we continue, relocate the bread to the skillet."
        ],
        "r2_commonsense": [
          "Seize the baked dough product the bread using one arm and deposit it into the flat cooking pan the skillet.",
          "Grasp the bread with one arm and transfer it into the skillet-like vessel the skillet.",
          "Obtain the bread item the bread and place it inside the cooking implement the skillet.",
          "Capture the bread using one arm and relocate it into the frying surface the skillet.",
          "Retrieve the baked good the bread with one arm and set it within the skillet.",
          "Take the edible product the bread and position it inside the metal cooking container the skillet.",
          "Secure the bread using one arm and drop it into the open pan the skillet.",
          "Grasp the bread product the bread and transfer it onto the cooking surface the skillet.",
          "Obtain the bread and place it inside the heated cooking vessel the skillet.",
          "Capture the bread using one arm and relocate it into the frying implement the skillet.",
          "Retrieve the food item the bread with one arm and establish it within the skillet.",
          "Acquire the bread using one arm and position it inside the cooker the skillet.",
          "Snatch the bread using one arm and place it within the cooking pan the skillet.",
          "Lift the bread the bread and drop it into the skillet the skillet.",
          "Hold the bread using one arm and shift it into the interior of the skillet.",
          "Engage the bread with one arm and reposition it within the skillet.",
          "Extract the bread using one arm and place it inside the cooking vessel the skillet.",
          "Capture the bread with one arm and align it with the bottom of the skillet.",
          "Lift the bread and deposit it within the frying pan the skillet.",
          "Clutch the loaf the bread and establish it in the skillet.",
          "Pick up the bread using one arm and place it to rest in the skillet.",
          "Seize the bread and transfer it to the skillet using one arm.",
          "Engage the bread with one arm and drop it into the skillet.",
          "Extract the bread using one arm and establish it within the skillet the skillet.",
          "Secure the bread the bread using one arm and position it in the skillet."
        ],
        "r3_reasoning": [
          "Ensure the bread ends up inside the skillet.",
          "Make sure the bread is positioned within the cooking vessel the skillet.",
          "Arrange things so the bread rests in the skillet.",
          "Verify that the bread is deposited inside the skillet.",
          "Achieve a state where the bread is contained in the skillet.",
          "Establish the bread within the interior of the pan the skillet.",
          "Result in the bread being placed inside the skillet.",
          "Confirm the bread is secured in the skillet.",
          "Conclude with the bread resting in the skillet.",
          "Position the bread such that it occupies the skillet."
        ]
      },
      "sha256": "dd8fc86738d3e34a2db695158c3f684e8df3017540b6ea4045ee47a4672dc12d",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_bread_skillet.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_bread_skillet.py"
    },
    "task_instruction/place_burger_fries": {
      "full_description": "Use dual arm to pick the hamburg and frenchfries and put them onto the tray.",
      "schema": "{A} notifies the hamburg, {B} notifies the tray, {C} notifies the frenchfries",
      "pools": {
        "seen": [
          "Use both arms to move {A} and {C} to {B}.",
          "Lift {A} and {C}, placing them neatly on {B}.",
          "Place {A} and {C} on {B} after picking them up.",
          "Take {A} and {C} with both arms and set on {B}.",
          "Move {A} and {C} to {B} using both arms.",
          "Pick up {A} and {C}, then put both on {B}.",
          "Using both arms, grab {A} and {C} for {B}.",
          "Set {A} and {C} down on {B} after picking them.",
          "Grab {A} with one arm and {C} with the other for {B}.",
          "Take {A} and {C} to {B} and set them there.",
          "Grab {A}, grab {C}, and set both onto {B}.",
          "With dual arms, move {A} and {C} onto {B}.",
          "Place {A} and {C} together onto {B}.",
          "Lift {A}, lift {C}, then set both on {B}.",
          "Move {A} and {C} with dual arms to {B}.",
          "Take {A} and {C}, place them onto {B}.",
          "Use both arms to transfer {A} and {C} to {B}.",
          "Pick up {A}, then {C}, and place them onto {B}.",
          "Using dual arms, move {A} and {C} onto {B}.",
          "Grab {A} and {C}, use both arms to set on {B}.",
          "Use dual arms to place {A} and {C} onto {B}",
          "Put {A} and {C} on {B} using both arms",
          "Lift {A} and {C}, position them on {B}",
          "Pick up {A}, grab {C}, place them on {B}",
          "Move {A} and {C} to {B} with both arms",
          "Place {A} and {C} onto {B} using dual arms",
          "Grab {A}, pick {C}, then set them on {B}",
          "Transfer {A} and {C} to {B} with both arms",
          "Pick up {A} and {C}, then put them on {B}",
          "Use dual arms to move {A} and {C} onto {B}",
          "Use both arms to move {A} and {C} to {B}.",
          "Set {A} and {C} on {B} using two arms.",
          "Grab {A} and {C}, then put them on {B}.",
          "Move {A} and {C} onto {B} with both arms.",
          "Take {A}, take {C}, and place them onto {B}.",
          "With two arms, pick {A} and {C} for {B}.",
          "Lift {A} and {C} and position them on {B}.",
          "Using both arms, set {A} and {C} onto {B}.",
          "Pick {A} and {C}, and set them on {B}.",
          "Position {A} and {C} on {B} with both arms.",
          "Place {A} and {C} onto {B} after picking them up.",
          "Pick {A}, {C}, and place them on {B} using both arms.",
          "Grab {A}, then {C}, and set them on {B}.",
          "Using both arms, pick {A} and {C} and drop them on {B}.",
          "Pick up {A} and {C} one by one and place on {B}.",
          "Place both {A} and {C} on {B} after grabbing them with both arms.",
          "Grab {A} and {C} and position them on {B}.",
          "Using dual arms, lift {A} and {C} and drop them on {B}.",
          "Pick {A}, then {C}, and place them on {B}.",
          "Use dual arms to grab {A} and {C} and set them on {B}."
        ],
        "unseen": [
          "Pick {A} and {C}, then place them on {B}.",
          "Grab {A} and {C} together, setting them on {B}.",
          "Pick up {A} and {C}, then place on {B}.",
          "Use both arms to place {A} and {C} on {B}.",
          "Grab {A} and {C}, then set them on {B}",
          "Pick up {A} and {C} together, then drop on {B}",
          "Pick {A} and {C}, place them on {B}.",
          "Place {A} and {C} onto {B}.",
          "Pick up {A} and {C} and place them on {B}.",
          "Use both arms to grab {A} and {C} and set them on {B}."
        ]
      },
      "sha256": "3e1170931f4b2c77f4402681d8c64a29b9ee642f3202d4a2816591c789724455",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_burger_fries.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_burger_fries.py"
    },
    "task_instruction_plus/place_burger_fries": {
      "full_description": "Use dual arm to pick the hamburg and frenchfries and put them onto the tray.",
      "schema": "{A} notifies the hamburg, {B} notifies the tray, {C} notifies the frenchfries",
      "pools": {
        "r1_distraction": [
          "Hey, before we continue, could you place the hamburg the hamburger and fries the french fries onto the tray the tray?",
          "I was thinking about food earlier, but first grab both the hamburger and the french fries and put them on the tray.",
          "The time is passing quickly, anyway, use both arms to move the hamburger and the french fries to the tray.",
          "Before we move on, could you set the hamburger and the french fries on the tray together?",
          "I'm wondering about the arrangement, but first take the hamburger and the french fries and place them on the tray.",
          "Speaking of which, can you grab both the hamburger and the french fries and drop them on the tray?",
          "You know, we should keep going, anyway, lift the hamburger and the french fries and set them on the tray.",
          "Just a quick task - move both the hamburger and the french fries onto the tray.",
          "Before finishing, could you place the hamburger and the french fries together on the tray?",
          "One more thing - use both arms to transfer the hamburger and the french fries to the tray.",
          "By the way, I forgot to mention - put the hamburger and the french fries on the tray.",
          "Before moving on, pick up the hamburger and the french fries and place them on the tray.",
          "Just so you're aware, we need the hamburger and the french fries on the tray.",
          "One moment - grab both the hamburger and the french fries and position them on the tray.",
          "Before we wrap up, relocate the hamburger and the french fries to the tray."
        ],
        "r2_commonsense": [
          "Seize the beef patty sandwich the hamburger and the deep-fried potato sticks the french fries using both arms and deposit them onto the serving platform the tray.",
          "Grasp the ground meat item the hamburger with one arm and the fried starch product the french fries with the other, then transfer both to the tray.",
          "Obtain the cooked meat product the hamburger and the side dish the french fries and place them together on the presentation surface the tray.",
          "Capture both the sandwich the hamburger and the prepared potatoes the french fries using dual arms and relocate them onto the tray.",
          "Retrieve the burger item the hamburger and the golden fries the french fries and establish them on the tray-like the tray.",
          "Take the meat-based meal the hamburger and the fried accompaniment the french fries and position them on the serving dish the tray.",
          "Secure both the hamburger and the french fries using dual arms and drop them onto the presentation the tray.",
          "Grasp the prepared sandwich the hamburger and the crispy potatoes the french fries and transfer them onto the tray.",
          "Obtain the food item the hamburger and place it alongside the french fries on the tray.",
          "Capture both the hamburger and the french fries together and relocate them onto the serving the tray.",
          "Retrieve the burger the hamburger with one arm and the fries the french fries with the other, then deposit both on the tray.",
          "Acquire the hamburger and the french fries using both arms and position them on the tray.",
          "Snatch the hamburger and the french fries using dual hands and place them on the tray.",
          "Lift the beef sandwich the hamburger and the fried sticks the french fries, then drop them on the tray.",
          "Hold the hamburger with one arm and the french fries with the other, shifting them onto the tray.",
          "Engage both the hamburger and the french fries with dual limbs and reposition them on the tray.",
          "Extract the hamburger and the french fries using both arms and place them on the tray.",
          "Capture the hamburger with one hand and the french fries with the other, aligning them on the tray.",
          "Lift both the hamburger and the french fries and deposit them on the plating surface the tray.",
          "Clutch the sandwich the hamburger and the potatoes the french fries, establishing them on the tray.",
          "Pick up the hamburger and the french fries using both arms and place them on the tray.",
          "Seize both the hamburger and the french fries and transfer them to the tray using dual arms.",
          "Engage the hamburger and the french fries with both limbs and drop them onto the tray.",
          "Extract the hamburger and the french fries using both hands and establish them on the tray.",
          "Secure both items the hamburger and the french fries using dual manipulation and position them on the tray."
        ],
        "r3_reasoning": [
          "Ensure both the hamburger and the french fries end up on the tray.",
          "Make sure the hamburger and the french fries are positioned together on the tray.",
          "Arrange things so the hamburger and the french fries rest on the tray.",
          "Verify that both the hamburger and the french fries are placed on the tray.",
          "Achieve a state where the hamburger and the french fries occupy the tray.",
          "Establish the hamburger alongside the french fries on the tray.",
          "Result in both the hamburger and the french fries being on the tray.",
          "Confirm the hamburger and the french fries are secured on the tray.",
          "Conclude with the hamburger and the french fries resting on the tray.",
          "Position the hamburger and the french fries such that they are on the tray."
        ]
      },
      "sha256": "19a816566e8253912c0f8571db60a1f060e920eee5a9d3db71e90a423f32d346",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_burger_fries.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_burger_fries.py"
    },
    "task_instruction/place_can_basket": {
      "full_description": "use one arm to pick up the can, put it into the basket, and use another arm to lift the basket",
      "schema": "{A} notifies the can, {B} notifies the basket, {a} notifies the arm to pick up the can, the arm to pick up the basket use literal 'the other arm' or 'another arm'",
      "pools": {
        "seen": [
          "Place {A} in {B} and then lift {B}.",
          "Pick {A} with {a}, drop it in {B}, lift {B} with another arm.",
          "Pick {A}, set it in {B}, then lift {B}.",
          "Use the same arm to grab {A}, place in {B}, and then lift {B}.",
          "Take {A} in {a}, place it into {B}, another arm lifts {B}.",
          "Grab and drop {A} in {B}, lift {B}.",
          "Pick up {A} with {a}, place into {B}, the other arm raises {B}.",
          "Take {A}, set it into {B}, and raise {B}.",
          "Use {a} to grab {A} and place in {B}, lift {B} with another arm.",
          "Pick up {A}, place it in {B}, and then lift {B}.",
          "Place {A} in {B} and then use another arm to lift {B}.",
          "Pick up {A}, set it inside {B}, then lift {B}.",
          "Grab {A} using {a}, drop {A} into {B} and lift {B}.",
          "Use {a} for {A}, place {A} in {B}, and lift {B}.",
          "Take {A} and put it in {B}, then lift {B}.",
          "Drop {A} into {B} using {a}, then lift {B} with another arm.",
          "Pick up {A}, place it into {B}, then lift {B}.",
          "Use {a} to grab {A}, place it in {B}, and lift {B}.",
          "Grab {A}, drop it into {B}, then use another arm for {B}.",
          "Place {A} inside {B}, then lift {B}.",
          "Hold {A} using {a}, place it in {B}, and lift {B}.",
          "Lift {A}, drop it into {B}, then carry {B}.",
          "Grab {A} with {a}, put it into {B}, and lift {B} with the other arm.",
          "Lift {A}, place it in {B}, pick up {B} afterward.",
          "Pick {A} with one arm, place it in {B}, and lift {B} using another arm.",
          "Grab {A}, set it into {B}, then raise {B}.",
          "Pick up {A}, put it into {B}, and lift {B}.",
          "Use {a} to hold {A}, drop {A} into {B}, and lift {B}.",
          "Grab {A}, place it in {B}, and raise {B} using the other arm.",
          "Lift {A}, put it in {B}, and carry {B} afterward.",
          "Pick up {A}, put it in {B}, and lift {B}.",
          "Lift {A} with {a}, set it in {B}, and lift with another arm.",
          "Take {A}, place it into {B}, then lift {B}.",
          "Grab {A}, drop it into {B}, and raise {B} with the other arm.",
          "Pick {A}, set it in {B}, and lift {B} upward.",
          "Use {a} to grab {A}, put it into {B}, and lift {B} with another arm.",
          "Lift {A}, place it in {B}, and raise {B}.",
          "Take {A} with {a}, drop it into {B}, and lift {B} using another arm.",
          "Grab {A}, place it in {B}, and lift {B} upwards.",
          "Pick {A} using {a}, drop it in {B}, and lift {B} with the other arm.",
          "Grab {A}, place it in {B}, and then lift {B}.",
          "Pick up {A} using {a}, drop it into {B}, and lift {B} with the other arm.",
          "Lift {A}, set it in {B}, and elevate {B}.",
          "Use {a} to pick {A}, place it inside {B}, then lift {B}.",
          "Grab {A}, drop it into {B}, and raise {B}.",
          "Pick {A} with {a}, set it in {B}, and lift {B} using another arm.",
          "Lift {A}, place it inside {B}, and elevate {B}.",
          "Use {a} to take {A}, drop it in {B}, and lift {B}.",
          "Grab {A}, put it in {B}, then raise {B}.",
          "Use {a} to grab {A}, place it into {B}, and lift {B} using the other arm."
        ],
        "unseen": [
          "Grab {A}, put it in {B}, lift {B}.",
          "Use {a} to pick up {A}, put it into {B}, the other arm lifts {B}.",
          "Grab {A} and put it in {B}, then lift {B}.",
          "Use {a} to pick {A}, drop it into {B}, then lift {B}.",
          "Grab {A}, drop it into {B}, lift {B} with another arm.",
          "Pick {A}, put it in {B}, then lift {B}.",
          "Grab {A}, drop it in {B}, and lift {B}.",
          "Use {a} to pick {A}, place it into {B}, and lift the basket.",
          "Pick up {A}, place it in {B}, then lift {B}.",
          "Use {a} to grab {A}, put it in {B}, and lift {B}."
        ]
      },
      "sha256": "8480c354bc347c10906c28d84bc811048a8544ef6d3b12520f57cb66bcbefe3b",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_can_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_can_basket.py"
    },
    "task_instruction_plus/place_can_basket": {
      "full_description": "use one arm to pick up the can, put it into the basket, and use another arm to lift the basket",
      "schema": "{A} notifies the can, {B} notifies the basket, {a} notifies the arm to pick up the can, the arm to pick up the basket use literal 'the other arm' or 'another arm'",
      "pools": {
        "r1_distraction": [
          "Hey, before we go further, could you grab the can and put it in the basket, then lift the basket?",
          "I was thinking about efficiency, but first use one arm to place the can in the basket and lift with the other arm.",
          "The moment is right, anyway, pick the can with one arm, drop it in the basket, and elevate the basket.",
          "Before we continue, could you take the can, set it in the basket, then raise the basket?",
          "I'm wondering if we should speed up, but first grab the can and place it in the basket, then lift the basket.",
          "Speaking of coordination, can you hold the can in the basket and lift the basket with another arm?",
          "You know, this requires balance, anyway, use one arm for the can, place it in the basket, and lift the basket.",
          "Just a coordinated task - place the can inside the basket and then lift the basket.",
          "Before finishing, could you drop the can in the basket and then raise the basket?",
          "One more challenge - pick the can, set it in the basket, and lift the basket with another arm.",
          "By the way, this needs two hands - put the can in the basket and lift the basket.",
          "Before moving on, use one arm to place the can in the basket, then use the other arm for the basket.",
          "Just so you're aware, we need the can in the basket and then lifted.",
          "One moment - grab the can, position it in the basket, then lift the basket.",
          "Before we wrap up, transfer the can to the basket and then elevate the basket."
        ],
        "r2_commonsense": [
          "Seize the cylindrical metal container the can using one arm and deposit it into the woven storage vessel the basket, then elevate the basket with the other arm.",
          "Grasp the tinned product the can with one arm and transfer it into the basket-like receptacle the basket, then raise the basket using another arm.",
          "Obtain the canned item the can and place it inside the carrying container the basket, then lift the basket with the opposite limb.",
          "Capture the can using one arm and relocate it into the storage receptacle the basket, then elevate the basket with another hand.",
          "Retrieve the sealed vessel the can with one arm and establish it within the basket, then raise the basket using the other arm.",
          "Take the packaged good the can and position it inside the woven the basket, then lift the basket with an alternate hand.",
          "Secure the can using one arm and drop it into the carrying basket the basket, then hoist the basket with the remaining arm.",
          "Grasp the tin the can and transfer it into the container the basket, then elevate the basket using the opposite appendage.",
          "Obtain the metal can the can and place it within the basket the basket, then raise the basket with another arm.",
          "Capture the can using one arm and relocate it to reside in the basket, then lift the basket with the other limb.",
          "Retrieve the cylindrical product the can with one arm and establish it inside the basket, then elevate the basket using an alternate hand.",
          "Acquire the can using one arm and position it within the receptacle the basket, then raise the basket with the remaining arm.",
          "Snatch the can using one arm and place it within the basket, then lift the basket with the opposite arm.",
          "Lift the can the can and drop it into the basket, then hoist the basket with another hand.",
          "Hold the can using one arm and shift it into the basket, then elevate the basket with the other limb.",
          "Engage the can with one arm and reposition it within the basket, then raise the basket using an alternate arm.",
          "Extract the can using one arm and place it inside the basket, then lift the basket with the other appendage.",
          "Capture the can with one arm and align it inside the basket, then elevate the basket using the remaining arm.",
          "Lift the can and deposit it within the basket, then hoist the basket with another hand.",
          "Clutch the can using one arm and establish it in the basket, then raise the basket with the opposite limb.",
          "Pick up the can using one arm and place it in the basket, then elevate the basket with another arm.",
          "Seize the can and transfer it to the basket using one arm, then lift the basket with the other hand.",
          "Engage the can with one arm and drop it into the basket, then raise the basket using an alternate limb.",
          "Extract the can using one arm and establish it within the basket, then lift the basket with the remaining hand.",
          "Secure the can using one arm and position it in the basket, then elevate the basket with another arm."
        ],
        "r3_reasoning": [
          "Ensure the can ends up inside the basket, and the basket is elevated.",
          "Make sure the can is positioned within the basket, then the basket is lifted.",
          "Arrange things so the can rests in the basket and the basket is raised.",
          "Verify that the can is deposited in the basket and the basket is held aloft.",
          "Achieve a state where the can is contained in the basket and the basket is lifted.",
          "Establish the can within the basket, and then have the basket elevated.",
          "Result in the can being inside the basket, with the basket lifted.",
          "Confirm the can is secured in the basket and the basket is raised.",
          "Conclude with the can in the basket and the basket held up.",
          "Position the can inside the basket and achieve the basket being lifted."
        ]
      },
      "sha256": "4ed2996274550090f327e8978df33181a4f3cc7f11578c5e1133a600607f784a",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_can_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_can_basket.py"
    },
    "task_instruction/place_cans_plasticbox": {
      "full_description": "Use dual arm to pick and place cans into plasticbox",
      "schema": "{A} notifies the left can, {B} notifies the plasticbox, {C} notifies right can",
      "pools": {
        "seen": [
          "Use both arms to move {A} and {C} into {B}.",
          "Lift {A}, put it in {B}, then handle {C} similarly.",
          "With both arms, transfer {A} and {C} into {B}.",
          "Pick {A}, place it inside {B}, follow the same for {C}.",
          "Move {A} and {C} one at a time into {B}.",
          "Use dual arms to pick {A} and {C}, placing both in {B}.",
          "Place {A} in {B}, follow with {C} using each arm.",
          "Transfer {A} to {B}, then transfer {C} to {B}.",
          "First move {A} to {B}, then move {C} into {B}.",
          "Use your arms to set {A} and {C} gently into {B}.",
          "Move {A} to {B} and repeat with {C}.",
          "Use both arms to place {A} and {C} inside {B}.",
          "Pick {A}, place it in {B}, then pick {C} and place it in {B}.",
          "Grip {A} and insert it into {B}, then repeat for {C}.",
          "Move {A} and {C} into {B} using separate arms.",
          "Transfer {A} to {B}, then transfer {C} to {B}.",
          "Place {A} and {C} into {B} using both arms.",
          "Use arms to set {A} and {C} into {B}.",
          "Pick and drop {A} and {C} into {B}.",
          "Lift {A}, place it in {B}, then repeat for {C}.",
          "Use both arms to move {A} and {C} into {B}",
          "Lift {A} and {C}, then set them inside {B}",
          "Pick {A} and {C} using both arms and put them in {B}",
          "Place {A} and {C} into {B} with dual arms",
          "Move {A} and {C} together into {B}",
          "Transfer {A} and {C} into {B} using dual arms",
          "Pick and drop {A} and {C} into {B} together",
          "Using dual arms, place {A} and {C} inside {B}",
          "Lift {A} and {C}, and stick them into {B}",
          "Drop {A} and {C} into {B} with both arms",
          "Use both arms to grab {A} and {C}, place them in {B}.",
          "Grab {A}, insert it into {B}, then grab {C} and repeat.",
          "Place {A} and {C} in {B} using both arms.",
          "Lift {A} into {B}, then {C} to {B} without delay.",
          "Pick up {A} using one arm, set it in {B}, repeat for {C}.",
          "Use arms to pick {A}, drop it in {B}, repeat for {C}.",
          "Identify {A}, place it in {B}, do the same for {C}.",
          "Grab {A}, transfer it to {B}, then repeat with {C}.",
          "Both arms lift {A}, drop into {B}, repeat for {C}.",
          "Pick {A} and {C}, put them together inside {B}.",
          "Use both arms to place {A} and {C} into {B}.",
          "First pick {A}, place it in {B}, then repeat for {C}.",
          "Place {A} into {B}, then lift {C} and set it into {B}.",
          "Use the arms to transfer {A} and {C} into {B}.",
          "Move {A} into {B}, then pick and drop {C} into the same box.",
          "Use both arms, position {A} and {C} within {B}.",
          "Begin with {A}, place it in {B}, finish with {C} into {B}.",
          "Utilize the arms to deposit both {A} and {C} into {B}.",
          "Transfer {A} into {B}, then position {C} within {B}.",
          "Employ both arms to pick {A} and {C}, and place them inside {B}."
        ],
        "unseen": [
          "Pick {A}, place it into {B}, then repeat with {C}.",
          "Grab {A}, drop it in {B}, and do the same for {C}.",
          "Pick {A} and place it into {B}. Then do the same for {C}.",
          "Grab {A}, drop it into {B}. Repeat for {C}.",
          "Grab {A} and {C} and place them in {B}",
          "Pick up {A} and {C}, drop them together into {B}",
          "Pick {A}, set it in {B}, then repeat with {C}.",
          "Lift {A} and {C}, drop both into {B}.",
          "Move {A} into {B}, then move {C} into {B}.",
          "Grab {A} and drop it into {B}, then do the same for {C}."
        ]
      },
      "sha256": "b7208838d80a71ddfd9f8457e5cece84848efe30354ad3f1a49e222bd01871c2",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_cans_plasticbox.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_cans_plasticbox.py"
    },
    "task_instruction_plus/place_cans_plasticbox": {
      "full_description": "Use dual arm to pick and place cans into plasticbox",
      "schema": "{A} notifies the left can, {B} notifies the plasticbox, {C} notifies right can",
      "pools": {
        "r1_distraction": [
          "Hey, before we continue, could you place both the left can and the right can into the plastic box?",
          "I was thinking about organization, but first grab both the left can and the right can and put them in the plastic box.",
          "The task is straightforward, anyway, use both arms to move the left can and the right can to the plastic box.",
          "Before we move on, could you set the left can and the right can inside the plastic box?",
          "I'm wondering about the best order, but first take the left can and the right can and place them in the plastic box.",
          "Speaking of which, can you grab both the left can and the right can and drop them in the plastic box?",
          "You know, this is important, anyway, lift the left can and the right can and set them in the plastic box.",
          "Just a quick task - move both the left can and the right can into the plastic box.",
          "Before finishing, could you place the left can and the right can together in the plastic box?",
          "One more step - use both arms to transfer the left can and the right can to the plastic box.",
          "By the way, I forgot to mention - put the left can and the right can in the plastic box.",
          "Before moving on, pick up the left can and the right can and place them in the plastic box.",
          "Just so you're aware, we need the left can and the right can in the plastic box.",
          "One moment - grab both the left can and the right can and position them in the plastic box.",
          "Before we wrap up, relocate the left can and the right can to the plastic box."
        ],
        "r2_commonsense": [
          "Seize the cylindrical metal container the left can and the sealed vessel the right can using both arms and deposit them into the plastic storage box the plastic box.",
          "Grasp the tinned product the left can with one arm and the canned item the right can with the other, then transfer both into the plastic box.",
          "Obtain the packaged good the left can and the metallic container the right can and place them together in the polymer case the plastic box.",
          "Capture both the can the left can and the cylindrical product the right can using dual arms and relocate them into the plastic box.",
          "Retrieve the sealed tin the left can and the canned substance the right can and establish them within the plastic receptacle the plastic box.",
          "Take the metal vessel the left can and the enclosed product the right can and position them inside the plastic box.",
          "Secure both the left can and the right can using dual arms and drop them into the storage box the plastic box.",
          "Grasp the aluminum container the left can and the tinned product the right can and transfer them into the plastic the plastic box.",
          "Obtain the sealed can the left can and place it alongside the right can inside the plastic box.",
          "Capture both the left can and the right can together and relocate them into the container the plastic box.",
          "Retrieve the cylindrical item the left can with one arm and the metal vessel the right can with the other, then deposit both in the plastic box.",
          "Acquire the left can and the right can using both arms and position them in the plastic box.",
          "Snatch the left can and the right can using dual hands and place them in the plastic box.",
          "Lift the can the left can and the container the right can, then drop them in the plastic box.",
          "Hold the left can with one arm and the right can with the other, shifting them into the plastic box.",
          "Engage both the left can and the right can with dual limbs and reposition them in the plastic box.",
          "Extract the left can and the right can using both arms and place them in the plastic box.",
          "Capture the left can with one hand and the right can with the other, aligning them in the plastic box.",
          "Lift both the left can and the right can and deposit them in the storage container the plastic box.",
          "Clutch the can the left can and the vessel the right can, establishing them in the plastic box.",
          "Pick up the left can and the right can using both arms and place them in the plastic box.",
          "Seize both the left can and the right can and transfer them to the plastic box using dual arms.",
          "Engage the left can and the right can with both limbs and drop them into the plastic box.",
          "Extract the left can and the right can using both hands and establish them in the plastic box.",
          "Secure both items the left can and the right can using dual manipulation and position them in the plastic box."
        ],
        "r3_reasoning": [
          "Ensure both the left can and the right can end up in the plastic box.",
          "Make sure the left can and the right can are positioned together in the plastic box.",
          "Arrange things so the left can and the right can rest in the plastic box.",
          "Verify that both the left can and the right can are placed in the plastic box.",
          "Achieve a state where the left can and the right can occupy the plastic box.",
          "Establish the left can alongside the right can within the plastic box.",
          "Result in both the left can and the right can being in the plastic box.",
          "Confirm the left can and the right can are secured in the plastic box.",
          "Conclude with the left can and the right can resting in the plastic box.",
          "Position the left can and the right can such that they are within the plastic box."
        ]
      },
      "sha256": "cb8c2136904a8a1389f66d11147b1514654c10765c17f52767303a63dd4a1f58",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_cans_plasticbox.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_cans_plasticbox.py"
    },
    "task_instruction/place_container_plate": {
      "full_description": "place the container onto the plate",
      "schema": "{A} notifies the plate to be placed onto, {B} notifies the arm to manipulate the container, {a} notifies the arm to catch the container",
      "pools": {
        "seen": [
          "Move the container with {B} to {A}.",
          "Use {B} to place the container onto {A}.",
          "Transfer the container and drop it on {A}.",
          "Move and release the container onto {A}.",
          "Grab the container with {a} and set on {A}.",
          "Pick up the container with {a}, place it on {A}.",
          "Secure the container, move it, and set it on {A}.",
          "Carry the container and release it onto {A}.",
          "Position the container using {B} onto {A}.",
          "Lift the container with {B}, then place it onto {A}.",
          "Lift container and drop it onto {A}.",
          "Move the container to {A} and set it down.",
          "Use {B} to grab the container and place it on {A}.",
          "Catch the container, align it, place on {A}.",
          "Secure container with {B}, move it, place on {A}.",
          "Lift the container and position it on {A}.",
          "Grab container using {B}, transfer it to {A}.",
          "Place the container directly on {A}.",
          "Catch {a}, move container over {A}, drop it.",
          "Lift container toward {A} and carefully set it down.",
          "Drop the container onto {A} using {B}",
          "Deliver the container to {A} and release",
          "Set the container down on {A} carefully",
          "Place the container flat on {A} now",
          "Move the container above {A} and drop it",
          "Lift the container and set it onto {A}",
          "Position {B} to lower the container on {A}",
          "Move {B} and drop the container onto {A}",
          "Use {B} to place the container into {A}",
          "Guide the container with {B} onto {A}",
          "Stick the container onto {A} using {B}.",
          "Slide the container into position on {A}.",
          "Place the container onto {A} with {B}.",
          "Align the container and set onto {A}.",
          "Grab the container using {a} and place it onto {A}.",
          "Catch the container with {B} and drop onto {A}.",
          "Lift the container and set it onto {A}.",
          "Move the container and stick it onto {A}.",
          "Position the container onto {A} using {B}.",
          "Shift the container and place it on {A}.",
          "Place the container onto {A}.",
          "Catch the container and set it on {A}.",
          "Drop the container onto {A}.",
          "Use {a} to lower the container onto {A}.",
          "Stick the container on top of {A}.",
          "Grab the container and place on {A}.",
          "Position the container and set on {A}.",
          "Slide the container to {A} using {a}.",
          "Place the container firmly onto {A}.",
          "Hold the container with {a} and drop onto {A}."
        ],
        "unseen": [
          "Place the container onto {A}.",
          "Set the container on top of {A}.",
          "Catch {a}, move it over {A}, set it down.",
          "Grab container with {B}, place it on {A}.",
          "Move {B} to set the container on {A}",
          "Place the container onto {A} with {B}",
          "Set the container on {A} with {B}.",
          "Move and drop the container onto {A}.",
          "Set the container on {A}.",
          "Lower the container onto {A} using {a}."
        ]
      },
      "sha256": "77af29299c38e4604398f52930ed0be76d8f82e00fffe2d0926146abcb3d227c",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_container_plate.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_container_plate.py"
    },
    "task_instruction_plus/place_container_plate": {
      "full_description": "place the container onto the plate",
      "schema": "{A} notifies the plate to be placed onto, {B} notifies the arm to manipulate the container, {a} notifies the arm to catch the container",
      "pools": {
        "r1_distraction": [
          "Hey, before we continue, could you place the container on the plate?",
          "I was thinking about arrangement, but first move the container to the plate.",
          "The task is simple enough, anyway, use one arm to position the container on the plate.",
          "Before we move on, could you set the container on the plate?",
          "I'm wondering if we're on track, but first grab the container and put it on the plate.",
          "Speaking of which, can you drop the container on the plate?",
          "You know, let's keep going, anyway, lift the container and set it on the plate.",
          "Just a quick task - move the container onto the plate.",
          "Before finishing, could you place the container on the plate?",
          "One more step - use one arm to transfer the container to the plate.",
          "By the way, I forgot to mention - put the container on the plate.",
          "Before moving on, pick up the container and place it on the plate.",
          "Just so you're aware, we need the container on the plate.",
          "One moment - grab the container and position it on the plate.",
          "Before we wrap up, relocate the container to the plate."
        ],
        "r2_commonsense": [
          "Seize the receptacle using one arm and deposit it onto the flat dining surface the plate.",
          "Grasp the vessel with one arm and transfer it onto the dish-like surface the plate.",
          "Obtain the hollow container and place it on the tableware item the plate using one arm.",
          "Capture the object using one arm and relocate it onto the plate-like surface the plate.",
          "Retrieve the container with one arm and establish it on the dining piece the plate.",
          "Take the vessel and position it on the flat dinnerware the plate using one arm.",
          "Secure the container using one arm and drop it onto the serving dish the plate.",
          "Grasp the receptacle and transfer it onto the plate surface the plate using one arm.",
          "Obtain the hollow item and place it on top of the tableware the plate.",
          "Capture the vessel using one arm and relocate it onto the plate.",
          "Retrieve the container with one arm and establish it on the dish the plate.",
          "Acquire the object using one arm and position it on the plate.",
          "Snatch the receptacle using one arm and place it on the plate.",
          "Lift the container and drop it onto the plate using one arm.",
          "Hold the vessel using one arm and shift it onto the plate.",
          "Engage the container with one arm and reposition it on the plate.",
          "Extract the object using one arm and place it on the plate.",
          "Capture the receptacle with one arm and align it on the plate.",
          "Lift the vessel and deposit it on top of the plate.",
          "Clutch the container using one arm and establish it on the plate.",
          "Pick up the object using one arm and place it on the plate.",
          "Seize the receptacle and transfer it to the plate using one arm.",
          "Engage the vessel with one arm and drop it onto the plate.",
          "Extract the container using one arm and establish it on the plate.",
          "Secure the object using one arm and position it on the plate."
        ],
        "r3_reasoning": [
          "Ensure the container ends up on the plate.",
          "Make sure the container is positioned on the plate.",
          "Arrange things so the container rests on the plate.",
          "Verify that the container is placed on the plate.",
          "Achieve a state where the container occupies the plate.",
          "Establish the container on top of the plate.",
          "Result in the container being on the plate.",
          "Confirm the container is secured on the plate.",
          "Conclude with the container on the plate.",
          "Position the container such that it rests on the plate."
        ]
      },
      "sha256": "21fe180098be9b6aafcb209eab6c20922ce7197b28aa8235983deea54889603a",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_container_plate.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_container_plate.py"
    },
    "task_instruction/place_empty_cup": {
      "full_description": "use an arm to place the empty cup on the coaster",
      "schema": "{A} notifies the empty cup, {B} notifies the coaster",
      "pools": {
        "seen": [
          "Move {A} to {B}",
          "Place {A} on top of {B}",
          "Slide {A} onto {B}",
          "Set {A} down on {B}",
          "Use an arm to drop {A} on {B}",
          "Stick {A} onto {B} using the arm",
          "Position {A} carefully on {B}",
          "Use arm to place {A} on {B}",
          "Set {A} carefully onto {B}",
          "Drop {A} firmly on {B} using arm",
          "Use the arm to set {A} on {B}",
          "Lift {A} and place it over {B}",
          "Move {A} onto {B} with the arm",
          "Align {A} and set it down on {B}",
          "Use an arm to place {A} on {B}",
          "Grab {A} and lower it onto {B}",
          "Position {A} above and drop it on {B}",
          "Using the arm, align {A} over {B}",
          "Relocate {A} precisely onto {B} with arm",
          "Carefully place {A} onto {B} without arm",
          "Use the arm to put {A} onto {B}.",
          "Pick {A} up and drop it on {B}.",
          "Grab {A}, then place it onto {B}.",
          "Move {A} to {B} using the arm.",
          "Stick {A} onto {B} using the arm.",
          "Drop {A} on top of {B}.",
          "Slide {A} onto {B} with the arm.",
          "Use the arm to slide {A} onto {B}.",
          "Grab {A} and set it onto {B}.",
          "Set {A} on {B} using the arm.",
          "Move {A} to {B} and set it down.",
          "Using the arm, drop {A} onto {B}.",
          "Grab {A} and place it on {B}.",
          "Set {A} securely on {B} using the arm.",
          "Use the arm to position {A} on {B}.",
          "Stick {A} onto {B} carefully.",
          "Position {A} on {B} with the arm.",
          "Direct {A} to {B} and let it rest.",
          "Lift {A} and place it onto {B}.",
          "Using the arm, slide {A} onto {B}.",
          "Use an arm to drop {A} on {B}.",
          "Lift {A} and stick it onto {B}.",
          "Grab {A} and place it over {B}.",
          "Move {A} using the arm onto {B}.",
          "Slide {A} gently onto {B} via the arm.",
          "Make sure {A} ends up on {B}.",
          "Position {A} squarely on top of {B}.",
          "Use the arm to position {A} onto {B}.",
          "Lift {A} up and drop it on {B}.",
          "Set {A} onto {B} using the arm."
        ],
        "unseen": [
          "Place {A} onto {B}",
          "Use arm to set {A} on {B}",
          "Place {A} carefully onto {B}",
          "Pick {A} and position it on {B}",
          "Place {A} onto {B}.",
          "Set {A} on top of {B}.",
          "Place {A} onto {B} gently.",
          "Set {A} on top of {B}.",
          "Set {A} down on {B}.",
          "Place {A} on top of {B}."
        ]
      },
      "sha256": "95de3567883298db94e311e4c363f5474a9a7545dcbd55751b273f4e0523d86e",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_empty_cup.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_empty_cup.py"
    },
    "task_instruction_plus/place_empty_cup": {
      "full_description": "use an arm to place the empty cup on the coaster",
      "schema": "{A} notifies the empty cup, {B} notifies the coaster",
      "pools": {
        "r1_distraction": [
          "Hey, before we continue, could you place the empty cup on the coaster?",
          "I was thinking about table setup, but first move the empty cup to the coaster.",
          "The morning is proceeding, anyway, use an arm to position the empty cup on the coaster.",
          "Before we move on, could you set the empty cup on the coaster?",
          "I'm wondering if we're organized, but first grab the empty cup and put it on the coaster.",
          "Speaking of which, can you drop the empty cup on the coaster?",
          "You know, this is practical, anyway, lift the empty cup and set it on the coaster.",
          "Just a quick task - move the empty cup onto the coaster.",
          "Before finishing, could you place the empty cup on the coaster?",
          "One more step - use an arm to transfer the empty cup to the coaster.",
          "By the way, I forgot to mention - put the empty cup on the coaster.",
          "Before moving on, pick up the empty cup and place it on the coaster.",
          "Just so you're aware, we need the empty cup on the coaster.",
          "One moment - grab the empty cup and position it on the coaster.",
          "Before we wrap up, relocate the empty cup to the coaster."
        ],
        "r2_commonsense": [
          "Seize the drinking vessel the empty cup and deposit it onto the protective cushioned surface the coaster.",
          "Grasp the drinkware the empty cup and transfer it onto the absorbent coaster-like object the coaster.",
          "Obtain the beverage holder the empty cup and place it on the protective mat the coaster.",
          "Capture the cup-shaped container the empty cup and relocate it onto the coaster.",
          "Retrieve the liquid receptacle the empty cup and establish it on the under-surface pad the coaster.",
          "Take the drinking container the empty cup and position it on the furniture protecting disc the coaster.",
          "Secure the ceramic or plastic drinking item the empty cup and drop it onto the decorative the coaster.",
          "Grasp the hollow tableware the empty cup and transfer it onto the drink-protecting tray the coaster.",
          "Obtain the vacant drinking vessel the empty cup and place it on the absorbent base the coaster.",
          "Capture the drinkable-liquid-container the empty cup and relocate it to the coaster.",
          "Retrieve the cup the empty cup and establish it on the coaster.",
          "Acquire the container the empty cup using an appendage and position it on the coaster.",
          "Snatch the empty cup and place it on the coaster.",
          "Lift the beverage holder the empty cup and drop it onto the coaster.",
          "Hold the empty cup and shift it onto the coaster.",
          "Engage the empty cup and reposition it on the coaster.",
          "Extract the empty cup and place it on the coaster.",
          "Capture the empty cup with a limb and align it on the coaster.",
          "Lift the empty cup and deposit it on the coaster.",
          "Clutch the empty cup and establish it on the coaster.",
          "Pick up the empty cup and place it on the coaster.",
          "Seize the empty cup and transfer it to the coaster using an arm.",
          "Engage the empty cup with a hand and drop it onto the coaster.",
          "Extract the empty cup and establish it on the coaster.",
          "Secure the empty cup using an appendage and position it on the coaster."
        ],
        "r3_reasoning": [
          "Ensure the empty cup ends up on the coaster.",
          "Make sure the empty cup is positioned on the coaster.",
          "Arrange things so the empty cup rests on the coaster.",
          "Verify that the empty cup is placed on the coaster.",
          "Achieve a state where the empty cup occupies the coaster.",
          "Establish the empty cup on top of the coaster.",
          "Result in the empty cup being on the coaster.",
          "Confirm the empty cup is secured on the coaster.",
          "Conclude with the empty cup on the coaster.",
          "Position the empty cup such that it rests on the coaster."
        ]
      },
      "sha256": "58e676e0735a8f530ae003fcf2e30cbf63d1a09ca7cb643309d95f08ff0d3fa0",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_empty_cup.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_empty_cup.py"
    },
    "task_instruction/place_fan": {
      "full_description": "grab the fan and place it on a colored mat, <make sure the fan is facing the robot!(THIS MUST BE REFERRED TO>",
      "schema": "{A} notifies the fan,{B} notifies the color of the mat(YOU SHOULD SAY {B} mat, or {B} colored mat), {a} notifies the arm to grab the fan",
      "pools": {
        "seen": [
          "Place {A} on the {B} mat after grabbing it with {a} and align it toward the robot.",
          "Grab {A} with {a} and ensure it's positioned on the {B} mat facing the robot.",
          "Grab {A} and position it on the {B} mat, ensuring it faces the robot.",
          "Lift {A}, place it on the {B} mat, and ensure it's facing the robot.",
          "Use {a} to pick {A}, set it on the {B} mat, and face it toward the robot.",
          "Grab {A} and carefully place it on the {B} mat facing toward the robot.",
          "Pick up {A} with {a}, place it on the {B} mat, and turn it toward the robot.",
          "Lift {A} and set it on the {B} mat, ensuring it faces the robot.",
          "Use {a} to grab {A}, then align it on the {B} mat facing the robot.",
          "Pick {A}, place it on the {B} mat, and ensure it points toward the robot.",
          "Use {a} to grab {A}, put it on the {B} mat, and face it toward the robot",
          "Lift {A} with {a}, place it on the {B} mat, and point it at the robot",
          "Set {A} on the {B} mat and make sure it faces the robot",
          "With {a}, grab {A} and position it on the {B} mat facing the robot",
          "Take {A}, place it on the {B} mat, ensure it points at the robot",
          "Grab {A} with {a}, set it on the {B} mat, and align it to face the robot",
          "Lift {A} and put it on the {B} mat so it faces the robot",
          "Use {a} to pick {A}, set it on the {B} mat, and direct it toward the robot",
          "Place {A} on the {B} mat and confirm it is pointing at the robot",
          "Take {A} with {a}, put it on the {B} mat, and make it face the robot",
          "Use {a} to pick up {A} and place it on {B} mat.",
          "Pick up {A} and ensure it faces the robot on the {B} mat.",
          "Set {A} onto the {B} colored mat, oriented towards the robot.",
          "Grab {A} with {a}, making sure it faces the robot on the {B} mat.",
          "Place {A} on the {B} mat and position it to face the robot.",
          "Lift {A} using {a} and put it on the {B} mat facing the robot.",
          "Position {A} on the {B} mat so it faces the robot.",
          "Grab {A} with {a}, place it on the {B} mat, ensure it faces the robot.",
          "Pick up {A} and place it on the {B} mat with it facing the robot.",
          "Use {a} to grab {A}, set it on {B} mat, and make it face the robot.",
          "Pick {A}, align it toward the robot, and drop it on the {B} mat.",
          "With {a}, grab {A}, align it to face the robot, and put it on the {B} mat.",
          "Pick up {A} and place it on the {B} mat ensuring it faces the robot.",
          "Grab {A} using {a} and set it on the {B} colored mat, facing the robot.",
          "Grab {A}, position it to face the robot, and place it on the {B} mat.",
          "Pick {A} with {a}, ensure it faces the robot, and put it on the {B} mat.",
          "Lift {A}, align it toward the robot, and position it on the {B} mat.",
          "Using {a}, grab {A}, face it towards the robot, and set it on the {B} mat.",
          "Take {A} and place it on the {B} mat, making sure it faces the robot.",
          "Pick {A} with {a}, align it to face the robot, and set it on the {B} mat.",
          "Place {A} on the {B} mat and ensure it faces the robot.",
          "Using {a}, grab {A} and put it on the {B} mat facing the robot.",
          "Set {A} on the {B} colored mat ensuring it faces the robot.",
          "Grab {A} using {a} and place it on the {B} mat ensuring it faces the robot.",
          "Place {A} on the {B} mat and verify it is facing the robot.",
          "Pick {A} with {a} and set it on the {B} mat facing the robot.",
          "Put {A} on the {B} mat and make sure it faces the robot.",
          "Grab {A} using {a} and position it on the {B} mat facing the robot.",
          "Place {A} on the {B} colored mat ensuring it faces the robot.",
          "Using {a}, grab {A} and set it on the {B} mat facing the robot."
        ],
        "unseen": [
          "Pick up {A} and set it on the {B} mat facing the robot.",
          "Use {a} to grab {A}, then place it on the {B} mat facing the robot.",
          "Grab {A} and set it on the {B} mat facing the robot",
          "Pick {A}, place it on the {B} mat, face it toward the robot",
          "Grab {A} and set it on the {B} mat.",
          "Place {A} onto the {B} colored mat facing the robot.",
          "Grab {A} and set it on the {B} mat facing the robot.",
          "Use {a} to grab {A} and place it on the {B} mat facing the robot.",
          "Pick {A} and set it on the {B} mat facing the robot.",
          "Grab {A} with {a} and position it on the {B} mat facing the robot."
        ]
      },
      "sha256": "915a824f58307dd30e7b13375dd901a906bead2fda3bb7be6c1d883a05658102",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_fan.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_fan.py"
    },
    "task_instruction_plus/place_fan": {
      "full_description": "grab the fan and place it on a colored mat, make sure the fan is facing the robot!",
      "schema": "{A} notifies the fan, {B} notifies the color of the mat (use {B} mat or {B} colored mat), {a} notifies the arm to grab the fan",
      "pools": {
        "r1_distraction": [
          "Before you begin, I was thinking about the weather earlier, but anyway, grab the fan with one arm and place it on the mat facing the robot.",
          "Hey, quick question first, could you pick up the fan and put it on the mat so it faces the robot?",
          "I heard it's going to rain tomorrow, but first, grab the fan with one arm and ensure it faces the robot on the mat.",
          "You know, I haven't eaten lunch yet, but take the fan and set it on the mat facing the robot.",
          "By the way, speaking of colors, grab the fan and position it on the mat so the fan faces the robot.",
          "Just so you know, I was reading earlier, but can you pick the fan with one arm and place it on the mat facing toward the robot?",
          "The water cooler was broken this morning, anyway grab the fan and put it on the mat facing the robot.",
          "I was just thinking about tomorrow's schedule, but first grab the fan with one arm and set it on the mat facing the robot.",
          "Did you see the news? Anyway, take the fan and place it on the mat so it faces the robot.",
          "I've been meaning to ask, but before that, grab the fan with one arm and position it on the mat facing the robot.",
          "The coffee is cold today, but let's start by taking the fan and putting it on the mat facing the robot.",
          "Speaking of which, I need to pick up the fan with one arm and place it on the mat facing the robot.",
          "You know, I forgot my keys somewhere, but grab the fan and set it on the mat facing the robot.",
          "By the way, there's a meeting later, but first grab the fan with one arm and place it on the mat facing the robot.",
          "I was wondering about that earlier, so take the fan and position it on the mat so it faces the robot."
        ],
        "r2_commonsense": [
          "Pick up the fan with one arm and deposit it on the mat, ensuring the air-circulation device faces the robot.",
          "Grasp the fan using one arm and set it on the colored mat, making sure it points toward the robot.",
          "Lift the fan with one arm and place it on the mat, verifying the air-moving device faces the robot.",
          "Use one arm to seize the fan and position it on the mat so it faces the robot.",
          "Acquire the fan with one arm and drop it onto the colored mat, ensuring orientation toward the robot.",
          "Grab the fan using one arm and set it on the mat with the cooling device facing the robot.",
          "Pick up the fan with one arm and arrange it on the mat, directed toward the robot.",
          "Use one arm to clutch the fan and position it on the colored mat facing the robot.",
          "Lift the fan using one arm and place it on the mat, turning it to face the robot.",
          "Grasp the fan with one arm and transfer it to the mat, angled toward the robot.",
          "Hold the fan with one arm and lower it onto the mat, ensuring it faces the robot.",
          "Use one arm to secure the fan and set it on the colored mat pointing toward the robot.",
          "Pick the fan using one arm and lay it on the mat facing the robot.",
          "Capture the fan with one arm and position it on the mat so the ventilator faces the robot.",
          "Take hold of the fan using one arm and place it on the mat aligned toward the robot.",
          "Use one arm to obtain the fan and set it on the colored mat with proper orientation toward the robot.",
          "Seize the fan with one arm and drop it on the mat facing the robot.",
          "Lift the fan and deposit it on the mat with one arm, ensuring the fan faces the robot.",
          "Manipulate the fan with one arm and place it on the mat directed toward the robot.",
          "Extract the fan using one arm and arrange it on the colored mat facing the robot.",
          "Grasp the fan with one arm and settle it on the mat pointing toward the robot.",
          "Take the fan using one arm and position it on the mat, ensuring proper alignment toward the robot.",
          "Use one arm to retrieve the fan and place it on the mat facing the robot.",
          "Lift the fan with one arm and put it on the colored mat pointing toward the robot.",
          "Hold the fan using one arm and drop it on the mat, directing it toward the robot."
        ],
        "r3_reasoning": [
          "Ensure the fan ends up on the mat with the fan facing the robot.",
          "Make sure the fan is positioned on the colored mat and oriented toward the robot.",
          "The goal is for the fan to rest on the mat while facing the robot.",
          "Achieve a state where the fan is on the mat facing the robot.",
          "Position the fan such that it is on the mat and the fan faces the robot.",
          "The desired outcome is the fan sitting on the colored mat, directed toward the robot.",
          "Ensure that the fan is placed on the mat with proper orientation toward the robot.",
          "Your task is to have the fan end up on the mat facing the robot.",
          "Make the fan rest on the mat while the fan points toward the robot.",
          "Guarantee that the fan is on the colored mat and facing the robot."
        ]
      },
      "sha256": "b3a516347e8c640ee2c2911037859fb3a969e367907f873c33e40827ce0865c6",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_fan.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_fan.py"
    },
    "task_instruction/place_mouse_pad": {
      "full_description": "grab the mouse and place it on a colored mat",
      "schema": "{A} notifies the mouse, {B} notifies the color of the mat(YOU SHOULD SAY {B} mat, or {B} colored mat), {a} notifies the arm to grab the mouse",
      "pools": {
        "seen": [
          "Take the {A} and place it on the {B} mat.",
          "Lift the {A} using {a} and move it to the {B} mat.",
          "Use {a} to grab the {A} and set it on the {B} mat.",
          "Pick up the {A} with {a} and place it on the {B} mat.",
          "Grip the {A} and move it onto the {B} mat.",
          "Hold the {A} and transfer it to the {B} mat.",
          "Take hold of the {A} and place it on the {B} mat.",
          "Lift the {A} and position it on the {B} mat.",
          "Using {a}, grab the {A} and set it on the {B} mat.",
          "Pick up the {A} with {a} and move it to the {B} mat.",
          "Use {a} to grab {A} and drop it on the {B} colored mat.",
          "Lift {A} with {a} and place it on the {B} mat.",
          "Grab {A} and move it onto the {B} mat.",
          "Use {a} to pick {A} and place it on the {B} mat.",
          "Take {A} and put it on the {B} mat.",
          "With {a}, grab {A} and position it on the {B} mat.",
          "Pick up {A} and set it on the {B} colored mat.",
          "Lift {A} using {a} and drop it on the {B} colored mat.",
          "Take {A} and place it onto the {B} mat.",
          "Pick {A} with {a} and move it to the {B} mat.",
          "Take {A} and place it on the {B} colored mat.",
          "Use {a} to grab {A} and position it onto the {B} mat.",
          "Lift {A} and set it down on the {B} mat.",
          "Grip {A} using {a} and move it to the {B} mat.",
          "Hold {A} and carefully place it on the {B} mat.",
          "Grab {A} with {a} and lay it onto the {B} colored mat.",
          "Take {A} and adjust it to rest on the {B} mat.",
          "Lift {A} up with {a} and stick it onto the {B} mat.",
          "Grab {A} and place it firmly on the {B} mat.",
          "Use {a} to pick {A} up and set it on the {B} colored mat.",
          "Grab the {A} using {a} and place it on the {B} mat.",
          "Use {a} to lift the {A} and set it on the {B} mat.",
          "Grab the {A} and position it onto the {B} mat.",
          "Pick the {A} and place it on the {B} colored mat.",
          "Lift the {A} using {a} and stick it on the {B} mat.",
          "Take hold of {A} with {a} and drop it on the {B} mat.",
          "Slide the {A} onto the {B} mat gently.",
          "Use {a} to grab the {A} and place it on the {B} colored mat.",
          "Position the {A} on the {B} mat by picking it up.",
          "Lift the {A} and put it down onto the {B} mat.",
          "Lift {A} and place it onto {B} mat.",
          "With {a}, grab {A} and position it on {B} mat.",
          "Take {A} and put it onto {B} mat.",
          "Using {a}, grab {A} and place it on {B} colored mat.",
          "Pick up {A} and move it to {B} mat.",
          "With {a}, pick up {A} and lay it on {B} mat.",
          "Lift {A} and stick it on {B} mat.",
          "Using {a}, pick {A} and position it on {B} colored mat.",
          "Grab {A} and drop it on {B} mat.",
          "With {a}, take {A} and set it on {B} mat."
        ],
        "unseen": [
          "Pick up the {A} and set it on the {B} mat.",
          "Grab the {A} and position it on the {B} mat.",
          "Grab {A} and set it on the {B} mat.",
          "Pick {A} and position it on the {B} colored mat.",
          "Grab {A} and set it on the {B} mat.",
          "Pick up {A} with {a} and drop it onto the {B} mat.",
          "Pick up the {A} and set it on the {B} mat.",
          "Lift the {A} and drop it on the {B} mat.",
          "Grab {A} and set it on {B} mat.",
          "Use {a} to pick up {A} and drop it on {B} mat."
        ]
      },
      "sha256": "a98691f9d9f5000cd736f128e971d1f2803ae60aa9a78c56d18c7e3658fe27ee",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_mouse_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_mouse_pad.py"
    },
    "task_instruction_plus/place_mouse_pad": {
      "full_description": "grab the mouse pad and place it on a colored mat",
      "schema": "{A} notifies the mouse pad, {B} notifies the color of the mat (use {B} mat or {B} colored mat), {a} notifies the arm to grab the mouse pad",
      "pools": {
        "r1_distraction": [
          "Before we start, I was just thinking about the movie I watched, but grab the mouse pad with one arm and place it on the mat.",
          "Hey, did you hear about the new office policy? Anyway, pick up the mouse pad and set it on the colored mat.",
          "Speaking of which, the printer is broken again, but take the mouse pad and drop it on the mat.",
          "You know, I can't find my glasses, but can you grab the mouse pad with one arm and position it on the mat?",
          "By the way, it's someone's birthday today, so first grab the mouse pad and put it on the mat.",
          "Just so you know, I missed the last meeting, but take the mouse pad with one arm and place it on the colored mat.",
          "The weather forecast says rain, anyway grab the mouse pad and set it on the mat.",
          "I've been thinking about vacation plans, but first pick up the mouse pad with one arm and put it on the mat.",
          "Did you notice the new paint in the hallway? Grab the mouse pad and place it on the colored mat.",
          "I was reading about that topic, but take the mouse pad with one arm and drop it on the mat.",
          "The coffee machine is acting up, but let's grab the mouse pad and set it on the mat.",
          "You know, I haven't called my mother, but take the mouse pad and position it on the colored mat.",
          "Speaking of deadlines, grab the mouse pad with one arm and place it on the mat.",
          "I was wondering about the project timeline, so pick up the mouse pad and set it on the mat.",
          "The lights flickered earlier, but first take the mouse pad with one arm and put it on the colored mat."
        ],
        "r2_commonsense": [
          "Grab the mouse pad using one arm and place it on the mat.",
          "Seize the pointing-device pad the mouse pad with one arm and set it on the colored mat.",
          "Lift the cursor-control surface the mouse pad with one arm and position it on the mat.",
          "Use one arm to grasp the mouse pad and drop it on the mat.",
          "Pick up the mouse-interface pad the mouse pad with one arm and place it on the colored mat.",
          "Hold the desk-surface covering the mouse pad with one arm and transfer it to the mat.",
          "Acquire the mouse pad with one arm and deposit it on the mat.",
          "Use one arm to obtain the pointing-pad the mouse pad and set it on the colored mat.",
          "Lift the mouse pad using one arm and lay it on the mat.",
          "Grasp the work-surface pad the mouse pad and place it on the colored mat.",
          "Take hold of the mouse pad with one arm and drop it onto the mat.",
          "Use one arm to secure the mouse pad and position it on the mat.",
          "Pick the cursor pad the mouse pad with one arm and set it on the colored mat.",
          "Hold the mouse pad using one arm and place it on the mat.",
          "Retrieve the mouse pad with one arm and drop it on the mat.",
          "Capture the mouse pad using one arm and transfer it to the colored mat.",
          "Use one arm to clutch the mouse pad and settle it on the mat.",
          "Lift the protective surface the mouse pad with one arm and arrange it on the mat.",
          "Grab the peripheral-control pad the mouse pad and position it on the colored mat.",
          "Take the mouse pad with one arm and place it on the mat.",
          "Use one arm to obtain the mouse pad and drop it on the colored mat.",
          "Pick up the mouse pad with one arm and move it to the mat.",
          "Seize the mouse pad using one arm and set it on the mat.",
          "Lift the mouse pad and transfer it to the colored mat with one arm.",
          "Hold the mouse pad with one arm and arrange it on the mat."
        ],
        "r3_reasoning": [
          "Ensure the mouse pad ends up on the colored mat.",
          "The goal is for the mouse pad to rest on the mat.",
          "Make the mouse pad positioned on the mat.",
          "Guarantee that the mouse pad is placed on the colored mat.",
          "The desired outcome is the mouse pad sitting on the mat.",
          "Achieve a state where the mouse pad is on the colored mat.",
          "Your objective is to have the mouse pad end up on the mat.",
          "Position the mouse pad such that it is on the colored mat.",
          "Make sure the mouse pad rests on the mat.",
          "The result should be the mouse pad on the mat."
        ]
      },
      "sha256": "d483983f27eefef3287cb203e2dfb1722a48d1166fa30a4ff8074481e59f0817",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_mouse_pad.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_mouse_pad.py"
    },
    "task_instruction/place_object_basket": {
      "full_description": "use one arm to grab the target object and put it in the basket, then use the other arm to grab the basket, and finally move the basket slightly away",
      "schema": "{A} notifies the target object, {B} notifies the basket, {a} notifies the arm to grab the target object. {b} notifies the arm to grab the basket",
      "pools": {
        "seen": [
          "Use {a} to grab {A}, then drop it in {B}.",
          "Use {a} to pick {A}, then use {b} for {B}.",
          "Grab {A}, drop it in {B}, then move {B}.",
          "Place {A} into {B} and push {B} slightly away.",
          "Pick {A} using {a}, put it in {B}, and shift {B}.",
          "Lift {A} using {a}, drop it in {B}, then push {B} via {b}.",
          "Grab {A}, place it in {B}, then move {B} away.",
          "Pick up {A}, put it in {B}, shift {B} a little.",
          "Use {a} to grab {A}, place it in {B}, and move {B} using {b}.",
          "Lift {A}, drop it in {B}, then slightly relocate {B}.",
          "Use one arm to grab {A}.",
          "Pick {A}, place it in {B}.",
          "Grab {A}, set it into {B}.",
          "Use the other arm to move {B}.",
          "Pick {A}, put it inside {B}.",
          "Grab {A} and drop it in {B}.",
          "Use one arm to place {A} in {B}.",
          "Pick and move {A}, then shift {B}.",
          "Lift {A}, place it into {B}, move {B}.",
          "Use one arm to grab {B} and move it.",
          "Use {a} to put {A} in {B}.",
          "Grab {A}, drop it in {B}, shift {B}.",
          "Move {A} to {B}, then shift {B}.",
          "Use {a} to place {A} into {B}.",
          "Put {A} in {B} and pull {B} away.",
          "Grab {A}, drop in {B}, and move {B}.",
          "Lift {A} using {a}, put it in {B}.",
          "Pick {A}, place it in {B}, shift {B}.",
          "Use {a} to move {A} into {B}, shift {B}.",
          "Put {A} in {B}, then move {B} away slightly.",
          "Pick up {A} and set it inside {B}.",
          "Move {A} using {a}, then place it in {B}.",
          "Place {A} in {B}, then grab {B}.",
          "Use {b} to grab {B} and move it slightly.",
          "Grab {B} and shift it away.",
          "Use {b} to pick up {B} and move it aside.",
          "Pick up {A}, place it in {B}, grab {B}.",
          "Grab {A} with {a}, place it in {B}, then grab {B}.",
          "Use {a} to grab {A}, drop it in {B}, grab {B}.",
          "Set {A} in {B}, and shift {B} away.",
          "Pick up {A} and drop it in {B}, then move {B}.",
          "Take {A}, set it in {B}, shift {B} lightly.",
          "Use one arm to place {A} in {B}, adjust {B}.",
          "Grab {A} with {a}, put it into {B}.",
          "Pick {A} and position it in {B}, move {B} slightly.",
          "Grab {A} with one arm, drop {A} in {B}.",
          "Take {A}, put {A} into {B}, shift {B}.",
          "Use one arm to grab {A}, place it in {B}, then move {B}.",
          "Pick {A}, drop {A} in {B}, slide {B} lightly.",
          "Grab {A} using {a}, drop {A} in {B}, then adjust {B}."
        ],
        "unseen": [
          "Grab {A} and put it into {B}.",
          "Pick up {A}, place it in {B}, move {B}.",
          "Grab {A} and place into {B}.",
          "Move {A} to {B}, then shift {B}.",
          "Pick up {A} and drop in {B}.",
          "Place {A} in {B} and move it.",
          "Grab {A} and put it in {B}.",
          "Use {a} to grab {A} and place it in {B}.",
          "Grab {A}, put it in {B}, move {B}.",
          "Use one arm to grab {A}, place it in {B}."
        ]
      },
      "sha256": "d71d6c73bb50df066e86225c590e25e8e4f54cc1c16fbce3b530ce0e370f9d2b",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_basket.py"
    },
    "task_instruction_plus/place_object_basket": {
      "full_description": "use one arm to grab the target object and put it in the basket, then use the other arm to grab the basket, and finally move the basket slightly away",
      "schema": "{A} notifies the target object, {B} notifies the basket, {a} notifies the arm to grab the target object, {b} notifies the arm to grab the basket",
      "pools": {
        "r1_distraction": [
          "So before we get started, I was just thinking about lunch, but use one arm to grab the object and drop it in the basket, then move the basket.",
          "Hey, quick reminder, the meeting got rescheduled, but pick the object with one arm, place it in the basket, and shift the basket away.",
          "You know, I haven't checked my email, but take the object and put it in the basket, then move the basket slightly.",
          "Speaking of which, it's almost break time, so grab the object with one arm, drop it in the basket, and push the basket away.",
          "I was thinking about the project, but first use one arm to pick the object, place it in the basket, then shift the basket.",
          "Did you see the weather update? Anyway, grab the object and drop it in the basket, then move the basket.",
          "By the way, the printer is working now, but use one arm to grab the object, place it in the basket, then push the basket away.",
          "Just so you know, there's traffic outside, but take the object with one arm, put it in the basket, and move the basket.",
          "I've been meaning to mention this, but grab the object with one arm, drop it in the basket, then shift the basket slightly.",
          "The weather seems nice today, so pick the object, place it in the basket, and move the basket away.",
          "You know, I forgot my notes, but use one arm to grab the object, place it in the basket, and push the basket.",
          "Speaking of tasks, grab the object and drop it in the basket, then move the basket away slightly.",
          "I was wondering about that, but take the object with one arm, put it in the basket, and shift the basket.",
          "Did you notice the new setup? Anyway, use one arm to pick the object, drop it in the basket, then move the basket.",
          "By the way, someone's asking about you, but grab the object, place it in the basket, and push the basket away."
        ],
        "r2_commonsense": [
          "Use one arm to grasp the object and deposit it in the woven container the basket, then shift the basket.",
          "Pick up the object with one arm, place it in the holding vessel the basket, and move the basket away.",
          "Use one arm to obtain the object and drop it in the storage receptacle the basket, then push the basket slightly.",
          "Grab the object with one arm, insert it into the basket-like container the basket, and relocate the basket.",
          "Using one arm, seize the object and place it in the collection the basket, then move the basket away.",
          "Take the object with one arm, drop it in the carrying basket the basket, and shift the basket.",
          "Lift the object with one arm, set it in the woven holder the basket, and push the basket away slightly.",
          "Use one arm to acquire the object and place it in the storage basket the basket, then move the basket.",
          "Grasp the object using one arm and transfer it to the open container the basket, then shift the basket.",
          "Pick the object with one arm, insert it in the receptacle the basket, and relocate the basket away.",
          "Use one arm to hold the object and drop it into the basket the basket, then push the basket.",
          "Obtain the object with one arm, place it in the carrying vessel the basket, and move the basket slightly.",
          "Lift the object using one arm and set it in the storage basket the basket, then shift the basket.",
          "Seize the object with one arm, drop it in the collection basket the basket, and push the basket away.",
          "Use one arm to grab the object and position it in the holding basket the basket, then move the basket.",
          "Take the object using one arm, place it in the woven receptacle the basket, and relocate the basket.",
          "Hold the object with one arm and transfer it to the storage basket the basket, then shift the basket.",
          "Pick up the object with one arm, insert it in the carrying basket the basket, and push the basket away.",
          "Grasp the object using one arm, drop it into the basket the basket, then move the basket slightly.",
          "Use one arm to acquire the object and place it in the collection vessel the basket, then shift the basket.",
          "Obtain the object with one arm, set it in the holding basket the basket, and relocate the basket.",
          "Lift the object using one arm and transfer it to the storage receptacle the basket, then push the basket.",
          "Seize the object with one arm, position it in the basket the basket, and move the basket away slightly.",
          "Use one arm to hold the object and drop it in the carrying container the basket, then shift the basket.",
          "Take the object using one arm, place it in the collection basket the basket, and push the basket away."
        ],
        "r3_reasoning": [
          "Ensure the object ends up inside the basket, and then the basket is moved away slightly.",
          "The goal is for the object to be placed in the basket, and the basket to be relocated.",
          "Make sure the object is in the basket, and the basket has been shifted away.",
          "Achieve a state where the object is positioned in the basket, with the basket moved.",
          "The desired outcome is the object in the collection basket the basket, which is then pushed away.",
          "Your task is to have the object end up in the basket, then move the basket slightly away.",
          "Position the object such that it is inside the basket, and the basket is relocated.",
          "Guarantee that the object is placed in the basket and the basket has been moved away.",
          "The result should be the object in the basket, with the basket shifted slightly.",
          "Ensure the final state has the object in the basket and the basket repositioned away."
        ]
      },
      "sha256": "4a555cc0a7f70d531e4d875629cfc7c4080d7359985514de76ceb42c427d7070",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_object_basket.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_basket.py"
    },
    "task_instruction/place_object_scale": {
      "full_description": "use one arm to grab the object and put it on the scale",
      "schema": "{A} notifies the scale, {B} notifies the object, {a} notifies the arm to grab the object",
      "pools": {
        "seen": [
          "Use {a} to grab {B} for {A}",
          "Place {B} on {A} after picking it",
          "Grab {B} with {a} and set it on {A}",
          "Lift {B} with {a} and position it on {A}",
          "Pick {B} and carefully move it to {A}",
          "Grab {B}, then place it smoothly on {A}",
          "Use {a} to hold {B} and drop it on {A}",
          "Lift {B} and stick it on {A} carefully",
          "Hold {B} with {a}, set it down on {A}",
          "Pick {B} and lay it down gently onto {A}",
          "Set {B} down on {A} using one arm",
          "Place {B} on {A} with one arm",
          "Put {B} on {A} without mention of arm",
          "Lift {B} and place on {A}",
          "Pick up {B} and set it on {A}",
          "Use one arm to place {B} on {A}",
          "Lift {B} with one arm and set on {A}",
          "Set {B} onto {A} after grabbing",
          "Grab {B} and drop it on {A}",
          "Carry {B} with one arm to {A}",
          "Pick up {B} and drop it on {A}.",
          "Lift {B} with {a} and set it on {A}.",
          "Place {B} onto {A} using {a}.",
          "Move {B} to {A} and leave it there.",
          "Pick {B} up and set it on {A}.",
          "Use {a} to lift {B} and place on {A}.",
          "Transport {B} to {A} and put it there.",
          "Set {B} on {A} after grabbing it with {a}.",
          "After grabbing {B}, place it on {A}.",
          "Using {a}, grab {B} and transfer it to {A}.",
          "Pick up {B} and set it on {A}",
          "Using {a}, pick {B} then place it on {A}",
          "Lift {B} and drop it onto {A}",
          "With {a}, lift {B} to set it on {A}",
          "Take {B} and place it over {A}",
          "Using {a}, grab {B} and put it on {A}",
          "Pick up {B} and drop it on {A}",
          "With {a}, secure {B} then release it on {A}",
          "Take {B} and lay it onto {A}",
          "Using {a}, grasp {B} and position it on {A}",
          "Use {a} to lift {B} onto {A}",
          "Place {B} carefully on {A} using {a}",
          "Lift {B} and position it on {A}",
          "Grab {B} and carefully set it on {A}",
          "Utilize {a} to grab {B} and place on {A}",
          "Pick {B} with {a} and move it to {A}",
          "Take {B} and put it down on {A}",
          "Using {a}, grab {B} and place on {A}",
          "Move {B} to the position on {A}",
          "With {a}, pick {B} and position it on {A}"
        ],
        "unseen": [
          "Grab {B} and drop it on {A}",
          "Pick {B} up and put it on {A}",
          "Grab {B} and set it on {A}",
          "Use one arm to pick {B} for {A}",
          "Grab {B} and place it on {A}.",
          "Use {a} to put {B} on {A}.",
          "Grab {B} and place it on {A}",
          "With {a}, grab {B} and position it on {A}",
          "Grab {B} and put it on {A}",
          "Pick up {B} and set it on {A}"
        ]
      },
      "sha256": "f2f55311cc540b79d50a767c4d07cd238e1c17ebdc23ef46bde5a31065baf7a2",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_scale.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_scale.py"
    },
    "task_instruction_plus/place_object_scale": {
      "full_description": "use one arm to grab the object and put it on the scale",
      "schema": "{A} notifies the scale, {B} notifies the object, {a} notifies the arm to grab the object",
      "pools": {
        "r1_distraction": [
          "Before we begin, I was thinking about the presentation later, but use one arm to grab the object and set it on the scale.",
          "Hey, quick note, someone is looking for you, but pick up the object with one arm and place it on the scale.",
          "You know, the coffee is getting cold, but grab the object and drop it on the scale.",
          "Speaking of which, there's a meeting in five minutes, but use one arm to grab the object and position it on the scale.",
          "I was reading something interesting, but take the object with one arm and set it on the scale.",
          "By the way, the light is flickering again, so grab the object and place it on the scale.",
          "Just so you know, I'm heading out soon, but pick up the object with one arm and drop it on the scale.",
          "Did you see the email? Anyway, use one arm to grab the object and set it on the scale.",
          "The weather forecast looks good, but take the object and position it on the scale.",
          "I've been meaning to ask, but grab the object with one arm and place it on the scale.",
          "You know, I left my jacket outside, so use one arm to pick the object and set it on the scale.",
          "Speaking of which, the deadline is tomorrow, but grab the object and drop it on the scale.",
          "I was wondering about that issue, so take the object with one arm and place it on the scale.",
          "Did you finish the report? Anyway, pick up the object with one arm and set it on the scale.",
          "By the way, there's an update to the system, but grab the object and position it on the scale."
        ],
        "r2_commonsense": [
          "Use one arm to grasp the object and deposit it on the weighing device the scale.",
          "Pick up the object with one arm and place it on the measurement scale the scale.",
          "Lift the object with one arm and set it on the weight-measuring apparatus the scale.",
          "Grab the object using one arm and drop it on the calibrated scale the scale.",
          "Use one arm to obtain the object and position it on the balance the scale.",
          "Take the object with one arm and place it on the measurement instrument the scale.",
          "Seize the object using one arm and transfer it to the weighing platform the scale.",
          "Hold the object with one arm and set it on the scale the scale.",
          "Lift the object using one arm and drop it on the weight-measuring device the scale.",
          "Grasp the object with one arm and place it on the balance the scale.",
          "Use one arm to acquire the object and position it on the scale the scale.",
          "Pick the object with one arm and set it on the measurement apparatus the scale.",
          "Transfer the object using one arm to the weighing scale the scale.",
          "Hold the object using one arm and drop it on the scale the scale.",
          "Obtain the object with one arm and place it on the calibrated balance the scale.",
          "Lift the object with one arm and transfer it to the weight scale the scale.",
          "Grab the object using one arm and set it on the measuring device the scale.",
          "Seize the object with one arm and position it on the scale the scale.",
          "Take the object using one arm and drop it on the balance apparatus the scale.",
          "Use one arm to hold the object and place it on the weight-measuring scale the scale.",
          "Pick up the object with one arm and set it on the calibrated scale the scale.",
          "Grasp the object using one arm and transfer it to the measurement device the scale.",
          "Lift the object using one arm and drop it on the scale the scale.",
          "Obtain the object using one arm and position it on the weighing apparatus the scale.",
          "Take the object with one arm and place it on the balance the scale."
        ],
        "r3_reasoning": [
          "Ensure the object ends up on the weighing device the scale.",
          "The goal is for the object to rest on the scale the scale.",
          "Make the object positioned on the measurement apparatus the scale.",
          "Guarantee that the object is placed on the balance the scale.",
          "The desired outcome is the object sitting on the weighing scale the scale.",
          "Your task is to have the object end up on the scale.",
          "Achieve a state where the object is on the calibrated scale the scale.",
          "Position the object such that it is on the weight-measuring device the scale.",
          "The result should be the object on the scale the scale.",
          "Make sure the object rests on the balance apparatus the scale."
        ]
      },
      "sha256": "706710ea3f8752c0922782e87ffdaa59b65bd08bc161589702125b735124adfe",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_object_scale.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_scale.py"
    },
    "task_instruction/place_object_stand": {
      "full_description": "use appropriate arm to place the object on the stand",
      "schema": "{A} notifies the object, {B} notifies the stand, {a} notifies the arm to grab the object",
      "pools": {
        "seen": [
          "Grab {A} and set it on {B}",
          "Pick {A} and position it on {B}",
          "Move {A} using {a} and place on {B}",
          "Set {A} on {B} using {a}",
          "Grab and put {A} on {B}",
          "Lift {A} and position on {B}",
          "Position {A} on {B} with {a}",
          "Pick {A} up and place on {B}",
          "Grab {A} with {a} and move to {B}",
          "Take {A} and set it on {B}",
          "Use {a} to position {A} on {B}.",
          "Move {A} onto {B}.",
          "Grab {A} with {a} and place on {B}.",
          "Set {A} in position on {B}.",
          "Use {a} to move {A} onto {B}.",
          "Place {A} on {B}.",
          "Transfer {A} using {a} to {B}.",
          "Move {A} to {B} using {a}.",
          "Position {A} on {B}.",
          "Place {A} precisely on {B}.",
          "Grab {A} and set it onto {B}.",
          "Set {A} in position on {B}.",
          "Pick {A} with {a} and place on {B}.",
          "Transfer {A} to {B} securely with {a}.",
          "Move {A} to {B} and set it there.",
          "Carefully place {A} onto {B}.",
          "Lift {A} with {a} and position on {B}.",
          "Grab and place {A} directly on {B}.",
          "Pick up {A} and drop it on {B}.",
          "Use {a} to lift {A} and set on {B}.",
          "Pick up {A} with {a} and set it on {B}",
          "Lift {A} and position it on {B}",
          "Select {a}, grab {A}, and move it to {B}",
          "Put {A} on {B} after picking it",
          "Grab {A} using {a} and place it on {B}",
          "Move {A} to {B} and release it",
          "Use {a} to lift {A} and set it on {B}",
          "Place {A} on {B} after grabbing it",
          "With {a}, pick {A} and position it on {B}",
          "Set {A} on {B} after moving it",
          "Pick up {A} and set it on {B}.",
          "Place {A} precisely on top of {B}.",
          "Use {a} to grab {A} and place on {B}.",
          "Lift {A} with {a} and align it on {B}.",
          "Grab and move {A} to position it on {B}.",
          "Locate {A}, pick it up, and place on {B}.",
          "Pick up {A} using {a} and set it on {B}.",
          "Take {A} with {a} and put it on {B}.",
          "Pick {A} and place it carefully onto {B}.",
          "Bring {A} to {B} and set it in place."
        ],
        "unseen": [
          "Use {a} to place {A} on {B}",
          "Place {A} onto {B} with {a}",
          "Place {A} on {B} with {a}.",
          "Set {A} on {B}.",
          "Use {a} to place {A} on {B}.",
          "Place {A} on {B} using {a}.",
          "Use {a} to grab {A} and place it on {B}",
          "Grab {A}, then place it on {B}",
          "Grab {A} using {a} and place on {B}.",
          "Set {A} onto {B} using the right arm."
        ]
      },
      "sha256": "aeef2cb487f048bdbfa645fc401a76ac5115dca954ce551ea4e9453be6252277",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_object_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_stand.py"
    },
    "task_instruction_plus/place_object_stand": {
      "full_description": "use appropriate arm to place the object on the stand",
      "schema": "{A} notifies the object, {B} notifies the stand, {a} notifies the arm to grab the object",
      "pools": {
        "r1_distraction": [
          "Before we start, I was just thinking about the weekend, but grab the object with one arm and set it on the stand.",
          "Hey, did you hear about that new update? Anyway, pick up the object and position it on the stand.",
          "You know, I'm hungry, but take the object and place it on the stand.",
          "Speaking of which, the projector needs a bulb, but use one arm to grab the object and set it on the stand.",
          "I was wondering about the budget, but grab the object and drop it on the stand.",
          "By the way, someone fixed the copier, so pick up the object with one arm and place it on the stand.",
          "Just so you know, I'll be late tomorrow, but take the object and position it on the stand.",
          "Did you see the news? Anyway, use one arm to grab the object and set it on the stand.",
          "The temperature is rising, but grab the object and place it on the stand.",
          "I've been thinking about the upcoming event, but pick the object with one arm and drop it on the stand.",
          "You know, I need to organize my desk, but use one arm to grab the object and position it on the stand.",
          "Speaking of organization, take the object and set it on the stand.",
          "I was reading about that topic, so grab the object with one arm and place it on the stand.",
          "Did you check the inventory? Anyway, pick up the object and drop it on the stand.",
          "By the way, there's a package for you, but use one arm to grab the object and set it on the stand."
        ],
        "r2_commonsense": [
          "Use one arm to grasp the object and deposit it on the upright holder the stand.",
          "Pick up the object with one arm and place it on the support structure the stand.",
          "Lift the object with one arm and set it on the elevated framework the stand.",
          "Grab the object using one arm and drop it on the standing apparatus the stand.",
          "Use one arm to obtain the object and position it on the mounting stand the stand.",
          "Take the object with one arm and place it on the support the stand.",
          "Seize the object using one arm and transfer it to the upright the stand.",
          "Hold the object with one arm and set it on the stand the stand.",
          "Lift the object using one arm and drop it on the mounting frame the stand.",
          "Grasp the object with one arm and place it on the elevated stand the stand.",
          "Use one arm to acquire the object and position it on the support the stand.",
          "Pick the object with one arm and set it on the upright holder the stand.",
          "Transfer the object using one arm to the mounting stand the stand.",
          "Hold the object using one arm and drop it on the support frame the stand.",
          "Obtain the object with one arm and place it on the elevated platform the stand.",
          "Lift the object with one arm and transfer it to the standing structure the stand.",
          "Grab the object using one arm and set it on the support the stand.",
          "Seize the object with one arm and position it on the stand the stand.",
          "Take the object using one arm and drop it on the upright frame the stand.",
          "Use one arm to hold the object and place it on the mounting apparatus the stand.",
          "Pick up the object with one arm and set it on the elevated stand the stand.",
          "Grasp the object using one arm and transfer it to the support structure the stand.",
          "Lift the object using one arm and drop it on the stand the stand.",
          "Obtain the object using one arm and position it on the upright the stand.",
          "Take the object with one arm and place it on the support frame the stand."
        ],
        "r3_reasoning": [
          "Ensure the object ends up on the stand the stand.",
          "The goal is for the object to rest on the elevated support the stand.",
          "Make the object positioned on the upright holder the stand.",
          "Guarantee that the object is placed on the stand.",
          "The desired outcome is the object sitting on the stand the stand.",
          "Your task is to have the object end up on the mounting structure the stand.",
          "Achieve a state where the object is on the support the stand.",
          "Position the object such that it is on the stand the stand.",
          "The result should be the object on the upright framework the stand.",
          "Make sure the object rests on the elevated stand the stand."
        ]
      },
      "sha256": "edc8ddb4d9104aea4ae6546ae08ca371753fd60834348e50ecd4ec0a3629a31f",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_object_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_object_stand.py"
    },
    "task_instruction/place_phone_stand": {
      "full_description": "pick up the phone and put it on the phone stand",
      "schema": "{A} notifies the phone, {B} notifies the phonestand. Arm use literal 'arm'",
      "pools": {
        "seen": [
          "Lift {A} using arm.",
          "Move {A} onto {B}.",
          "Take {A} to {B}.",
          "Hold {A} with arm.",
          "Grab {A} and position.",
          "Put {A} atop {B}.",
          "Use arm to grab {A}.",
          "Carry {A} to {B}.",
          "Lift {A} onto {B}.",
          "Place {A} using arm."
        ],
        "unseen": [
          "Pick up {A}.",
          "Set {A} on {B}."
        ]
      },
      "sha256": "4b5ae75353cd562b515aa2118dd51f12f9b86aef70c09e3c257c3a34f61828e7",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_phone_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_phone_stand.py"
    },
    "task_instruction_plus/place_phone_stand": {
      "full_description": "pick up the phone and put it on the phone stand",
      "schema": "{A} notifies the phone, {B} notifies the phone stand, arm use literal 'arm'",
      "pools": {
        "r1_distraction": [
          "By the way, I was thinking about calling my friend, but lift the phone using arm and put it on the phone stand.",
          "You know, I need to check my messages, but pick up the phone and set it on the phone stand.",
          "Speaking of which, the battery might be low, so grab the phone with arm and position it on the phone stand.",
          "I was wondering about the news, but take the phone and place it on the phone stand.",
          "Did you see the screen? Anyway, lift the phone using arm and move it onto the phone stand.",
          "The weather is changing, but pick up the phone and drop it on the phone stand.",
          "I've been meaning to call, but use arm to grab the phone and set it on the phone stand.",
          "You know, I forgot to check the time, so take the phone and position it on the phone stand.",
          "Speaking of time, grab the phone with arm and place it on the phone stand.",
          "I was reading something interesting, but lift the phone using arm and put it on the phone stand.",
          "By the way, there's an alert, so pick up the phone and set it on the phone stand.",
          "Did you hear that notification? Anyway, use arm to grab the phone and drop it on the phone stand.",
          "The screen looks nice today, but take the phone and place it on the phone stand.",
          "Just so you know, the app updated, so lift the phone using arm and move it to the phone stand.",
          "I was thinking about the settings, but pick up the phone and set it on the phone stand."
        ],
        "r2_commonsense": [
          "Lift the phone using arm and place it on the mobile device holder the phone stand.",
          "Pick up the phone and set it on the telephone support the phone stand.",
          "Grab the phone with arm and position it on the device mount the phone stand.",
          "Take the phone and place it on the communication device stand the phone stand.",
          "Use arm to retrieve the phone and drop it on the handset mount the phone stand.",
          "Lift the phone using arm and transfer it to the portable phone support the phone stand.",
          "Pick up the phone and set it on the call device holder the phone stand.",
          "Hold the phone with arm and place it on the cellular stand the phone stand.",
          "Grab the phone using arm and position it on the communication support the phone stand.",
          "Take the phone and drop it on the telephone holder the phone stand.",
          "Use arm to obtain the phone and set it on the mobile mount the phone stand.",
          "Lift the phone with arm and transfer it to the device stand the phone stand.",
          "Pick the phone up with arm and place it on the phone support the phone stand.",
          "Seize the phone using arm and position it on the handset holder the phone stand.",
          "Hold the phone with arm and drop it on the communication stand the phone stand.",
          "Acquire the phone using arm and place it on the portable support the phone stand.",
          "Lift the phone using arm and set it on the device mount the phone stand.",
          "Take the phone with arm and transfer it to the phone holder the phone stand.",
          "Grab the phone with arm and drop it on the cellular mount the phone stand.",
          "Use arm to hold the phone and position it on the telephone stand the phone stand.",
          "Pick up the phone using arm and place it on the communication holder the phone stand.",
          "Move the phone with arm onto the device support the phone stand.",
          "Carry the phone using arm and set it on the phone stand the phone stand.",
          "Obtain the phone with arm and drop it on the mobile holder the phone stand.",
          "Position the phone using arm on the cellular support the phone stand."
        ],
        "r3_reasoning": [
          "Ensure the phone ends up on the phone stand the phone stand.",
          "The goal is for the phone to rest on the mobile support the phone stand.",
          "Make the phone positioned on the device holder the phone stand.",
          "Guarantee that the phone is placed on the stand the phone stand.",
          "The desired outcome is the phone sitting on the phone mount the phone stand.",
          "Your task is to have the phone end up on the cellular support the phone stand.",
          "Achieve a state where the phone is on the communication stand the phone stand.",
          "Position the phone such that it is on the phone stand the phone stand.",
          "The result should be the phone on the device mount the phone stand.",
          "Make sure the phone rests on the portable holder the phone stand."
        ]
      },
      "sha256": "89dca17222811219b9b67e1addd70a2ad4dfd308c216f70db392483fae22d862",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_phone_stand.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_phone_stand.py"
    },
    "task_instruction/place_shoe": {
      "full_description": "use one arm to grab the shoe from the table and place it on the mat",
      "schema": "{A} notifies the shoe, {a} notifies the arm to manipulate the shoe",
      "pools": {
        "seen": [
          "Use {a} to grab the {A} and put it on the mat",
          "Take the {A} off the table and put it on the mat",
          "Lift the {A} from the table using {a} and place it on the mat",
          "Pick the {A} off the table and position it on the mat",
          "Use {a} to lift the {A} from the table and set it on the mat",
          "Grab the {A} on the table and move it to the mat",
          "Take the {A} from the table using {a} and drop it on the mat",
          "Lift the {A} from the table and place it onto the mat",
          "Use {a} to grab the {A} from the table and set it on the mat",
          "Pick the {A} from the table and place it gently on the mat",
          "Take {A} from the table and place it on the mat",
          "Use {a} to pick {A} off the table and move it onto the mat",
          "With {a}, grab {A} from the table and place it on the mat",
          "Lift {A} from the table and gently place it onto the mat",
          "Use {a} to lift {A} from the table and set it on the mat",
          "Take {A} from the table and carefully drop it on the mat",
          "Grab {A} using {a}, move it from the table to the mat",
          "Lift {A} using {a} from the table and place it on the mat",
          "Pick {A} up from the table and drop it directly on the mat",
          "Move {A} from the table to the mat in one fluid motion",
          "Use {a} to grab {A} from the table and move it to the mat",
          "Lift {A} from the table and place it carefully on the mat",
          "Pick up {A} with {a} from the table and place it on the mat",
          "Retrieve {A} from the table and set it on the mat",
          "Use {a} to pick up {A} from the table and drop it on the mat",
          "Take {A} from the table and put it on the mat",
          "With {a}, grab {A} off the table and place it onto the mat",
          "Move {A} from the table and place it down on the mat",
          "Use {a} to lift {A} from the table and set it on the mat",
          "Pick {A} up from the table and put it on the mat",
          "Pick up {A} and move it to the mat",
          "Grab {A} from the table with {a} and place it on the mat",
          "Take {A} and put it on the mat",
          "Use {a} to grab {A} and transfer it to the mat",
          "Lift {A} and place it on the mat",
          "Use {a} to pick {A} and position it on the mat",
          "Pick up {A} from the table and set it on the mat",
          "Grab {A} using {a} and drop it on the mat",
          "Move {A} from the table to the mat",
          "Take {A} with {a} and place it carefully on the mat",
          "Move {A} from the table to the mat",
          "Lift {A} off the table using {a} and drop it on the mat",
          "Grab {A} from the table and place it on the mat",
          "With {a}, pick {A} up from the table and put it on the mat",
          "Take {A} from the table and position it on the mat",
          "Using {a}, grasp {A} from the table and place it onto the mat",
          "Remove {A} from the table and lay it on the mat",
          "Pick up {A} with {a}, move it from the table, and set it on the mat",
          "Transfer {A} from the table to the mat",
          "Using {a}, lift {A} from the table and place it onto the mat"
        ],
        "unseen": [
          "Grab the {A} from the table and set it on the mat",
          "Pick up the {A} from the table and place it on the mat",
          "Pick up {A} from the table and set it on the mat",
          "Grab {A} off the table and drop it on the mat",
          "Grab {A} from the table and place it on the mat",
          "Pick up {A} from the table and set it down on the mat",
          "Grab {A} and set it on the mat",
          "Use {a} to lift {A} and drop it on the mat",
          "Pick up {A} from the table and set it on the mat",
          "Use {a} to grab {A} from the table and place it on the mat"
        ]
      },
      "sha256": "088ae335af61dfbe07a4948cc0b7246ca18f1013dde90f98e0f19eabca7cc1a1",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/place_shoe.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_shoe.py"
    },
    "task_instruction_plus/place_shoe": {
      "full_description": "use one arm to grab the shoe from the table and place it on the mat",
      "schema": "{A} notifies the shoe, {a} notifies the arm to manipulate the shoe",
      "pools": {
        "r1_distraction": [
          "Before we start, I was thinking about the workout, but use one arm to grab the shoe from the table and place it on the mat.",
          "Hey, speaking of walking, pick up the shoe from the table with one arm and set it on the mat.",
          "You know, I need new shoes, but take the shoe from the table and drop it on the mat.",
          "Speaking of which, the floor looks clean, so grab the shoe using one arm from the table and position it on the mat.",
          "I was wondering about fashion, but lift the shoe from the table with one arm and place it on the mat.",
          "By the way, comfort is important, so pick the shoe from the table and set it on the mat.",
          "Just so you know, the weather is good for walking, but use one arm to grab the shoe from the table and drop it on the mat.",
          "Did you see the new style? Anyway, take the shoe from the table with one arm and place it on the mat.",
          "The fit looks perfect, but grab the shoe with one arm from the table and position it on the mat.",
          "I've been thinking about shopping, but lift the shoe from the table using one arm and drop it on the mat.",
          "You know, I need to organize, so pick the shoe from the table and set it on the mat.",
          "Speaking of organization, use one arm to grab the shoe from the table and place it on the mat.",
          "I was reading about maintenance, so take the shoe with one arm from the table and drop it on the mat.",
          "Did you check the material? Anyway, grab the shoe from the table using one arm and position it on the mat.",
          "By the way, the sole looks worn, but lift the shoe from the table with one arm and set it on the mat."
        ],
        "r2_commonsense": [
          "Use one arm to grasp the shoe from the table and deposit it on the cushioned surface.",
          "Pick up the shoe from the table with one arm and place it on the padded mat.",
          "Lift the shoe from the table using one arm and set it on the fabric surface.",
          "Grab the shoe using one arm from the table and drop it on the protective mat.",
          "Use one arm to obtain the shoe from the table and position it on the cushioning {{surface}}.",
          "Take the shoe from the table with one arm and place it on the padded covering.",
          "Seize the shoe using one arm from the table and transfer it to the protective mat.",
          "Hold the shoe from the table with one arm and set it on the cushioned material.",
          "Lift the shoe using one arm from the table and drop it on the fabric mat.",
          "Grasp the shoe with one arm from the table and place it on the protective surface.",
          "Use one arm to acquire the shoe from the table and position it on the cushioned mat.",
          "Pick the shoe with one arm from the table and set it on the padded covering.",
          "Transfer the shoe using one arm from the table to the protective mat.",
          "Hold the shoe using one arm from the table and drop it on the fabric surface.",
          "Obtain the shoe with one arm from the table and place it on the cushioned mat.",
          "Lift the shoe with one arm from the table and transfer it to the protective covering.",
          "Grab the shoe using one arm from the table and set it on the padded mat.",
          "Seize the shoe with one arm from the table and position it on the fabric surface.",
          "Take the shoe using one arm from the table and drop it on the cushioned material.",
          "Use one arm to hold the shoe from the table and place it on the protective mat.",
          "Pick up the shoe with one arm from the table and set it on the padded surface.",
          "Grasp the shoe using one arm from the table and transfer it to the cushioning material.",
          "Lift the shoe using one arm from the table and drop it on the fabric mat.",
          "Obtain the shoe using one arm from the table and position it on the protective covering.",
          "Take the shoe with one arm from the table and place it on the padded mat."
        ],
        "r3_reasoning": [
          "Ensure the shoe ends up on the mat after being removed from the table.",
          "The goal is for the shoe to rest on the cushioned surface of the mat.",
          "Make the shoe positioned on the mat away from the table.",
          "Guarantee that the shoe is placed on the protective mat.",
          "The desired outcome is the shoe sitting on the fabric mat surface.",
          "Your task is to have the shoe end up on the mat.",
          "Achieve a state where the shoe is on the padded mat.",
          "Position the shoe such that it is on the protective covering.",
          "The result should be the shoe on the mat surface.",
          "Make sure the shoe rests on the cushioned material mat."
        ]
      },
      "sha256": "41a2168112ba66548f5d9081ef9c3f9cdb0901714b811ae6e5705039b0420d76",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/place_shoe.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/place_shoe.py"
    },
    "task_instruction/press_stapler": {
      "full_description": "Use one arm to press the stapler.",
      "schema": "{A} notifies the stapler, {a} notifies the arm to press the stapler",
      "pools": {
        "seen": [
          "Push {A} using one arm",
          "Push down on {A} to staple",
          "Press {A} until it works",
          "Apply pressure to {A} firmly",
          "Push {A} down completely",
          "Lower {A} using an arm",
          "Use an arm to press {A}",
          "Push the top of {A} down",
          "Apply force to {A} with {a}",
          "Press {A} firmly to staple",
          "Press on {A} using {a}.",
          "Push {A} down firmly.",
          "Press {A} to complete the task.",
          "Apply force to {A} to staple.",
          "Use one arm to press {A}.",
          "Push the stapler {A} with {a}.",
          "Push {A} until it staples.",
          "Push down on {A} firmly.",
          "Apply pressure to {A} with {a}.",
          "Firmly push down on {A}.",
          "Firmly press {A} using an arm.",
          "Push down on the stapler {A}.",
          "Apply pressure on {A} until it works.",
          "Press on {A} to activate it.",
          "Use your {a} to press the stapler {A}.",
          "Firmly push {A} using {a} to operate it.",
          "Push the stapler {A} to activate it.",
          "Press down on {A} until it functions.",
          "Press the stapler {A} using an arm {a}.",
          "Apply enough force to {A} to press it.",
          "Place pressure on {A} to staple.",
          "Use one arm {a} to press {A}.",
          "Push down on {A} to staple papers.",
          "Apply pressure to {A} using one arm {a}.",
          "Press {A} to staple the sheets together.",
          "Use your arm {a} to push {A} down.",
          "Push down firmly on {A} to complete.",
          "Apply one arm {a} to press {A} firmly.",
          "Press {A} downward using your arm {a}.",
          "Firmly press down on {A} to staple.",
          "Push down on the stapler {A}.",
          "Apply pressure to {A} with {a}.",
          "Push the stapler {A} to operate it.",
          "Lower {a} onto the stapler {A}.",
          "Push down hard on {A} with {a}.",
          "Press down on the stapler {A} firmly.",
          "Operate {A} by pressing it with {a}.",
          "Push down forcefully on the stapler {A}.",
          "Engage {A} by using {a} to press it.",
          "Simply press the stapler {A} downward."
        ],
        "unseen": [
          "Press down on {A} with {a}",
          "Use {a} to press on {A}",
          "Press down on {A} with {a}.",
          "Use {a} to press {A}.",
          "Press down on {A} firmly using {a}.",
          "Use {a} to press the stapler {A}.",
          "Push {A} down with one arm {a}.",
          "Press {A} firmly using your arm.",
          "Press the stapler {A} with the arm {a}.",
          "Use {a} to press down on {A}."
        ]
      },
      "sha256": "7062168b216b2a5a6f575741ff834a07f88bca17ea885cd372460eb4d5a8bf82",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/press_stapler.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/press_stapler.py"
    },
    "task_instruction_plus/press_stapler": {
      "full_description": "Use one arm to press the stapler",
      "schema": "{A} notifies the stapler, {a} notifies the arm to press the stapler",
      "pools": {
        "r1_distraction": [
          "Before we start, I was thinking about the deadline, but use one arm to press the stapler down firmly.",
          "Hey, speaking of documents, apply pressure to the stapler using one arm until it works.",
          "You know, these papers are important, but press the stapler with one arm to staple them.",
          "Speaking of which, the desk is cluttered, so push the stapler down with one arm firmly.",
          "I was wondering about efficiency, but use one arm to press the stapler to complete the task.",
          "By the way, organization matters, so push down on the stapler using one arm.",
          "Just so you know, the materials are ready, but apply force to the stapler with one arm.",
          "Did you see the stack? Anyway, press the stapler firmly using one arm to operate it.",
          "The timing is right, but push the stapler down with one arm until it staples.",
          "I've been thinking about productivity, but use one arm to press the stapler down completely.",
          "You know, I need to file these, so press on the stapler using one arm firmly.",
          "Speaking of filing, push down on the stapler with one arm to activate it.",
          "I was reading about tools, so use one arm to press the stapler the stapler.",
          "Did you check the mechanism? Anyway, apply pressure to the stapler using one arm firmly.",
          "By the way, the staples are loaded, but press the stapler down with one arm."
        ],
        "r2_commonsense": [
          "Use one arm to engage the fastening device the stapler by pressing it firmly.",
          "Push down on the document-binding tool the stapler with one arm to activate it.",
          "Apply force to the binding apparatus the stapler using one arm until it operates.",
          "Press the paper-joining instrument the stapler using one arm firmly.",
          "Use one arm to compress the fastening mechanism the stapler downward.",
          "Activate the the stapler by applying pressure with one arm to the binding device.",
          "Push the sheet-joining tool the stapler down using one arm with force.",
          "Engage the the stapler by pressing it with one arm to join the papers.",
          "Use one arm to operate the fastening instrument the stapler by applying pressure.",
          "Force the document binder the stapler down using one arm to complete the action.",
          "Press the binding the stapler with one arm firmly to staple the sheets.",
          "Apply downward force to the stapler using one arm to activate the fastener.",
          "Push on the joining apparatus the stapler with one arm until it functions.",
          "Use one arm to compress the the stapler and bind the documents together.",
          "Engage the fastening the stapler by pressing it down with one arm.",
          "Apply force to the the stapler using one arm to join the papers securely.",
          "Press down firmly on the stapler with one arm to complete the binding.",
          "Use one arm to operate the the stapler by applying sustained pressure.",
          "Push the the stapler down with one arm until the fastening mechanism activates.",
          "Compress the the stapler using one arm to bind the document sheets.",
          "Press the the stapler with one arm to join the materials together.",
          "Apply one arm to the stapler and press downward to fasten the papers.",
          "Use one arm to push the stapler down firmly for proper binding.",
          "Engage the stapler by applying downward pressure with one arm.",
          "Force the stapler down with one arm to complete the fastening process."
        ],
        "r3_reasoning": [
          "Ensure the stapler is pressed down to activate the stapling mechanism.",
          "The goal is for the stapler to be fully compressed to fasten the documents.",
          "Make the stapler engaged by applying firm downward pressure.",
          "Guarantee that the stapler has been pressed to bind the papers.",
          "The desired outcome is the stapler activated and the sheets stapled together.",
          "Your task is to have the stapler fully pressed to complete the fastening.",
          "Achieve a state where the stapler is compressed and papers are joined.",
          "Position one arm to press the stapler down and complete the binding action.",
          "The result should be the stapler activated with documents securely fastened.",
          "Make sure the stapler is pressed firmly until the stapling is complete."
        ]
      },
      "sha256": "a8f34e5dd9d32100dfcb4085735e244e33e1f4efb5f0e7747cafc5f241c707c5",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/press_stapler.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/press_stapler.py"
    },
    "task_instruction/rotate_qrcode": {
      "full_description": "Use arm to catch the qrcode board on the table, pick it up and rotate to let the qrcode face towards you",
      "schema": "{A} notifies the qrcode board. {a} notifies the arm to pick the qrcode board",
      "pools": {
        "seen": [
          "Pick up {A} and rotate it so the QR code faces you",
          "Use {a} to grab {A}, lift, and turn it QR code forward",
          "Lift {A} from the table and rotate it towards you",
          "Catch {A}, raise it, and turn it so the QR code faces you",
          "Grab {A}, lift it from the table, and rotate it QR front",
          "Use {a} to take {A} and turn it until the QR code faces you",
          "Lift {A} from the surface and adjust its angle towards you",
          "Employ {a} to seize {A}, raise it, and rotate it QR-forward",
          "Take {A}, lift it, and orient it so the QR faces you",
          "Use {a} to grab {A} and rotate it until the QR faces forward",
          "Find {A}, grab it, and turn it towards yourself.",
          "Use {a} to grab {A} and rotate the qrcode to face you.",
          "Slide {A} off the table and turn it to face you.",
          "Grab {A} with {a}, then rotate it to face yourself.",
          "Locate {A}, pick it up, and adjust its angle.",
          "Use {a} to lift {A} from the table and face the qrcode.",
          "Catch {A}, lift it, and turn the qrcode towards you.",
          "Grab {A} using {a}, then rotate it until the qrcode faces you.",
          "Pick up {A} and adjust its position to face the qrcode towards you.",
          "Lift {A} with {a}, then rotate it to make the qrcode visible.",
          "Catch and lift {A}, then turn it to show the QR code.",
          "Use {a} to grab {A} and rotate QR code towards you.",
          "Grab {A} using {a}, lift, and rotate until QR code faces you.",
          "Catch {A} with {a}, then rotate it to make the QR code visible.",
          "Lift {A} from the table and rotate it so the code faces you.",
          "Using {a}, catch {A} and rotate it to face the QR code.",
          "Catch {A} using {a}, pick it up, and turn it to face the QR code.",
          "Lift {A} and rotate it until the QR code faces you.",
          "Use {a} to grab {A}, rotate, and face the QR code towards you.",
          "Catch {A}, pick it up, and rotate to show the QR code.",
          "Catch {A}, lift it, and rotate it QR code facing.",
          "Use {a} to grab {A} and point its QR code toward you.",
          "Lift {A} from the table, turning it QR code forward.",
          "Take {A} from the table, rotating it QR code toward you.",
          "Use {a} to lift {A} and rotate it QR code toward you.",
          "Pick {A} up and turn its QR code toward you using {a}.",
          "Catch {A}, lift it, and adjust its QR code to face you.",
          "Grab {A} using {a}, then rotate the QR code to face forward.",
          "Lift {A} and orient its QR code toward you with {a}.",
          "Pick {A} up, rotate it, and ensure the QR code faces you.",
          "Lift {A} from the table and turn it to face you.",
          "Catch {A}, pick it up, and rotate to view the qrcode.",
          "Take {A}, raise it, and make the qrcode face you.",
          "Use {a} to pick {A} and turn it towards you.",
          "Lift {A} and rotate until its qrcode faces you.",
          "Catch {A} off the table and rotate its qrcode to you.",
          "Pick {A} up, then rotate to make its qrcode visible.",
          "Grab {A}, pick it up, and turn its qrcode toward you.",
          "Lift {A} and rotate for its qrcode to face you.",
          "Catch {A}, lift, and rotate to align the qrcode to you."
        ],
        "unseen": [
          "Catch {A} from the table and rotate it",
          "Grab {A}, lift it, and turn it to face you",
          "Catch {A} from the table and make it face you.",
          "Pick {A} off the table using {a} and rotate it.",
          "Pick {A} up from the table and rotate it.",
          "Grab {A}, lift it, and rotate until the QR code faces you.",
          "Catch {A} on the table and pick it up.",
          "Pick up {A} and rotate it to face its QR code toward you.",
          "Pick up {A} and rotate it facing you.",
          "Grab {A}, lift it, and rotate to see the qrcode."
        ]
      },
      "sha256": "a48d6c4bdebc043ea0e5745e909b7200f37fdce5c040202de87048c7db74a791",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/rotate_qrcode.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/rotate_qrcode.py"
    },
    "task_instruction_plus/rotate_qrcode": {
      "full_description": "Use arm to catch the qrcode board on the table, pick it up and rotate to let the qrcode face towards you",
      "schema": "{A} notifies the qrcode board. {a} notifies the arm to pick the qrcode board",
      "pools": {
        "r1_distraction": [
          "I was thinking about coding earlier, anyway grab the QR code board and rotate it to face you.",
          "The lighting in here is bright, but first use one arm to pick up the QR code board and turn it.",
          "Before we proceed, could you just catch the QR code board and rotate the qrcode towards you?",
          "By the way, I heard the weather is nice today, so go ahead and lift the QR code board and turn it QR forward.",
          "Just a quick thought - take the QR code board, lift it, and rotate it so the QR code faces you.",
          "While you're at it, grab the QR code board and swing it around to face the qrcode towards you.",
          "I was just thinking about lunch, anyway use one arm to pick the QR code board and turn it towards you.",
          "Before we start anything else, could you grab the QR code board with one arm, lift, and rotate it?",
          "Speaking of rotating things, pick the QR code board up and adjust it to face you.",
          "Real quick - use one arm to catch the QR code board off the table and rotate its qrcode to you.",
          "Just so you know, I'm thinking we should grab the QR code board, lift it, and rotate the qrcode towards you.",
          "By the way, before you do anything else, lift the QR code board from the table and turn it to face you.",
          "Oh, one more thing - take the QR code board, raise it, and make the qrcode face you.",
          "I almost forgot - use one arm to grab the QR code board and rotate the qrcode to face you.",
          "Real quick interruption - catch the QR code board, pick it up, and rotate to show the QR code."
        ],
        "r2_commonsense": [
          "Use one arm to grasp the optical scannable pattern substrate and orient it toward your viewpoint.",
          "Pick up the rectangular authentication board the QR code board using one arm, lift, and turn the authentication code forward.",
          "Catch the scannable pattern panel the QR code board from the surface and rotate it.",
          "Grab the optical identification board the QR code board with one arm, lift it, and adjust its angle toward you.",
          "Position the authentication marker substrate the QR code board so the machine-readable code faces your direction.",
          "Use one arm to acquire the scannable identifier board the QR code board and orient it toward yourself.",
          "Lift the rectangular pattern substrate the QR code board from the table and align the authentication marker toward you.",
          "Grasp the optical code board the QR code board using one arm, raise it, and rotate until the authentication pattern faces you.",
          "Take the rectangular authentication substrate the QR code board, elevate it, and align the machine-readable code toward you.",
          "Use one arm to lift the scannable identifier board the QR code board from the surface and orient the pattern toward you.",
          "Catch the optical authentication board the QR code board using one arm, pick it up, and turn it to display the machine-readable code.",
          "Lift the rectangular pattern board the QR code board and rotate it until the scannable identifier faces your direction.",
          "Grasp the authentication substrate the QR code board with one arm, elevate it, and rotate to align the optical code toward you.",
          "Position the scannable pattern board the QR code board so the machine-readable authentication marker faces you.",
          "Use one arm to secure the rectangular identifier board the QR code board, raise it, and orient the optical code toward your position.",
          "Take the authentication marker substrate the QR code board using one arm, lift from the surface, and align the scannable pattern toward you.",
          "Grab the optical identification board the QR code board with one arm, then rotate it until the authentication code faces forward.",
          "Lift the QR code board from the surface and adjust its orientation so the authentication pattern faces you.",
          "Use one arm to obtain the scannable pattern substrate the QR code board, raise it, and rotate it to show the optical identifier.",
          "Catch the rectangular authentication board the QR code board using one arm, lift, and turn to make the scannable code visible.",
          "Position the optical identifier board the QR code board from the table and rotate it toward your viewing angle.",
          "Use one arm to grasp the pattern substrate the QR code board and orient its machine-readable code toward you.",
          "Lift the authentication board the QR code board and rotate it so the optical scannable code faces your direction.",
          "Grab the rectangular pattern board the QR code board with one arm, then rotate the authentication marker to face forward.",
          "Use one arm to lift the optical authentication board the QR code board and align the scannable identifier toward you."
        ],
        "r3_reasoning": [
          "Ensure that the QR code board is held securely and positioned so that the optical authentication code is clearly visible to you.",
          "Verify that the scannable pattern on the QR code board is oriented toward your direction after manipulation by one arm.",
          "Make certain that the QR code board has been elevated and rotated such that the machine-readable code faces toward you.",
          "Establish a state where the QR code board displays its authentication marker clearly in your viewing direction.",
          "Confirm that the optical identifier on the QR code board is properly aligned to face your position after being manipulated.",
          "Achieve a configuration where the rectangular pattern board the QR code board shows its scannable code toward you.",
          "Ensure the authentication substrate the QR code board is positioned with its machine-readable marker facing your direction.",
          "Verify that the optical code on the QR code board is visible to you after being lifted and rotated.",
          "Make sure that the QR code board displays the scannable authentication pattern toward your viewing angle.",
          "Establish that the pattern board the QR code board is oriented so its optical identifier faces you clearly."
        ]
      },
      "sha256": "efea4f6170f28d512bf5f9d6bc4270a44b7cd59102001ea625c605691cf4b62b",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/rotate_qrcode.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/rotate_qrcode.py"
    },
    "task_instruction/shake_bottle": {
      "full_description": "Shake the bottle with proper arm",
      "schema": "{A} notifies the bottle, {a} notifies the arm to pick the bottle",
      "pools": {
        "seen": [
          "Use {a} to grab {A} and shake it.",
          "Grab {A} and give it a shake.",
          "Pick {A} up using {a} and shake it.",
          "Lift {A} and shake it thoroughly.",
          "Grasp {A} with {a} and shake it.",
          "Secure {A} and perform a shake.",
          "Utilize {a} to hold {A} and shake it.",
          "Hold {A} steady, then shake it.",
          "Take {A} using {a} and give it a shake.",
          "Catch {A} and shake it instantly.",
          "Shake {A} after grabbing it.",
          "Grab {A} with {a} and shake.",
          "Hold {A}, shake it briefly.",
          "Grip {A} using {a} and shake.",
          "Lift {A} and shake it gently.",
          "Shake {A} firmly after grabbing.",
          "Pick {A} up with {a} and shake.",
          "Use {a} to lift and shake {A}.",
          "Grab {A} and shake it steadily.",
          "Hold {A} with {a} and shake lightly.",
          "Shake {A} thoroughly after grabbing it.",
          "Use {a} to pick and shake {A}.",
          "Lift {A} with {a} and shake it.",
          "Grab {A} and move it to shake.",
          "Shake the {A} properly after lifting.",
          "Grab and shake {A} using {a}.",
          "Pick {A}, shake it with {a}.",
          "Shake {A} after holding it firmly.",
          "Use {a} to lift and shake {A}.",
          "Hold and shake the {A} carefully.",
          "Use {a} to grab {A} and shake properly.",
          "Shake {A} after grabbing it.",
          "Lift {A} with {a} and give it a shake.",
          "Grab {A} firmly, shake it, and put it down.",
          "Using {a}, shake {A} and then place it back.",
          "Pick up {A} and shake it well.",
          "With {a}, pick {A} and shake properly.",
          "Shake {A} after lifting it.",
          "Use {a} to hold {A} and shake it.",
          "Secure {A}, shake it, and place it down.",
          "Pick up {A} and shake it.",
          "Shake {A} after grabbing it.",
          "Grab {A} using {a}, then shake.",
          "Lift {A} with {a} and shake.",
          "Hold {A} and shake it properly.",
          "Shake {A} using {a} after grabbing.",
          "Pick {A} and perform shaking motion.",
          "Use {a} to lift and shake {A}.",
          "Grab {A} carefully and shake.",
          "Lift up {A} using {a}, then shake."
        ],
        "unseen": [
          "Shake {A} after picking it with {a}.",
          "Pick up {A} and shake it.",
          "Pick up {A} and shake it.",
          "Use {a} to grab {A} and shake.",
          "Pick and shake the {A} with {a}.",
          "Grab {A} and give it a shake.",
          "Pick up {A} with {a} and shake.",
          "Grab {A}, shake it properly, then set it down.",
          "Grab {A} and shake it.",
          "Use {a} to pick {A}."
        ]
      },
      "sha256": "61d117ca33a468976114cc150029603f4b7d926d84d8dce25e8cd24f97e56787",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/shake_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle.py"
    },
    "task_instruction_plus/shake_bottle": {
      "full_description": "Shake the bottle with proper arm",
      "schema": "{A} notifies the bottle, {a} notifies the arm to pick the bottle",
      "pools": {
        "r1_distraction": [
          "I was thinking about dinner, but first go ahead and grab the bottle and give it a shake.",
          "Before we move forward, could you just pick the bottle up using one arm and shake it?",
          "By the way, I heard it might rain today, so grab the bottle with one arm and shake it.",
          "Just a quick thought - use one arm to lift and shake the bottle.",
          "While you're at it, hold the bottle and shake it properly.",
          "Real quick - pick the bottle up and shake it well.",
          "Oh, one more thing - grab the bottle firmly, shake it, then put it down.",
          "I almost forgot - use one arm to grasp the bottle and shake it.",
          "Before you continue, could you pick up the bottle and shake it?",
          "Say, did you happen to grab the bottle and give it a good shake?",
          "Just occurred to me - shake the bottle after grabbing it.",
          "Real quick interruption: use one arm to pick the bottle and perform shaking motion.",
          "I was just thinking - lift the bottle with one arm and give it a shake.",
          "Before we proceed, secure the bottle and perform a shake.",
          "Quick thought - using one arm, shake the bottle and then place it back."
        ],
        "r2_commonsense": [
          "Use one arm to acquire the liquid container the bottle and oscillate it vigorously.",
          "Grasp the beverage vessel the bottle using one arm and perform vigorous vertical oscillations.",
          "Pick up the fluid-filled container the bottle and execute rapid movements to agitate its contents.",
          "Secure the portable beverage container the bottle using one arm and execute shaking motions.",
          "Lift the liquid vessel the bottle with one arm and perform rhythmic oscillations.",
          "Obtain the container the bottle using one arm and perform vigorous agitation.",
          "Take the beverage holder the bottle and execute rapid vertical movements.",
          "Grasp the portable vessel the bottle with one arm and perform sustained oscillations.",
          "Acquire the liquid reservoir the bottle using one arm and execute vigorous movements.",
          "Hold the fluid container the bottle steady and perform rapid agitation motions.",
          "Lift the beverage vessel the bottle and execute controlled oscillatory movements.",
          "Secure the portable container the bottle using one arm and perform continuous shaking.",
          "Use one arm to obtain the liquid vessel the bottle and perform vigorous oscillations.",
          "Grasp the container the bottle and execute rapid upward and downward movements.",
          "Pick up the beverage holder the bottle using one arm and perform sustained agitation.",
          "Take the liquid reservoir the bottle with one arm and execute controlled oscillations.",
          "Acquire the vessel the bottle using one arm and perform vigorous vertical movements.",
          "Hold the portable container the bottle securely and execute rapid agitation.",
          "Lift the fluid holder the bottle with one arm and perform rhythmic oscillations.",
          "Secure the beverage vessel the bottle using one arm and perform continuous movements.",
          "Use one arm to grasp the liquid container the bottle and execute vigorous shaking.",
          "Obtain the fluid vessel the bottle using one arm and perform sustained oscillations.",
          "Take the beverage container the bottle and execute rapid vigorous movements.",
          "Grasp the portable holder the bottle with one arm and perform controlled agitation.",
          "Lift the liquid container the bottle and perform energetic oscillatory movements."
        ],
        "r3_reasoning": [
          "Ensure that the bottle has been vigorously agitated and its contents thoroughly mixed.",
          "Verify that the liquid container the bottle has experienced sustained oscillatory motion.",
          "Make certain that the bottle has undergone vigorous shaking to adequately disturb its contents.",
          "Establish that the bottle is in a state of having been thoroughly agitated.",
          "Confirm that the beverage vessel the bottle has completed a full cycle of vigorous oscillations.",
          "Achieve the condition where the bottle has been subject to continuous rapid movements.",
          "Ensure the container the bottle displays signs of having been properly shaken.",
          "Verify that the bottle has been subjected to sustained vigorous agitation.",
          "Make sure that the liquid within the bottle has been thoroughly mixed through shaking.",
          "Establish that the bottle has completed its required oscillatory motion sequence."
        ]
      },
      "sha256": "36ec3c3f98634451684d692cae5c8facb7bc9e341b00ac219707fb067e31a7ee",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/shake_bottle.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle.py"
    },
    "task_instruction/shake_bottle_horizontally": {
      "full_description": "Shake the bottle horizontally with proper arm",
      "schema": "{A} notifies the bottle, {a} notifies the arm to pick the bottle",
      "pools": {
        "seen": [
          "Pick {A} using {a} and move it horizontally.",
          "Lift {A} and shake it horizontally.",
          "Use {a} to hold {A} and shake it sideways.",
          "Grab {A} and shake in a horizontal motion.",
          "Hold {A} with {a} and move it left and right.",
          "Pick {A}, then shake it horizontally.",
          "Lift {A} with {a}, then shake it side to side.",
          "Grip {A}, then shake it back and forth.",
          "Use {a} to pick {A} and shake it horizontally.",
          "Hold {A} and shake it side to side.",
          "Pick up {A} using {a} and shake sideways.",
          "Shake {A} side-to-side after grabbing it.",
          "Use {a} to grab {A} and shake horizontally.",
          "Grab {A} and move it side-to-side repeatedly.",
          "Secure {A} with {a}, shake in horizontal motion.",
          "Hold {A} steady and shake it horizontally.",
          "Take {A} in {a} and shake it back and forth.",
          "Move {A} side-to-side after grabbing it.",
          "Using {a}, grab {A} and shake it sideways.",
          "Grab {A}, shake it horizontally, then release.",
          "Shake {A} horizontally without mentioning {a}.",
          "Grab {A} using {a} and move it side-to-side.",
          "Pick up {A} and shake it horizontally.",
          "Hold {A} with {a} and shake horizontally.",
          "Shake {A} smoothly without using {a} reference.",
          "Utilize {a} to grab {A} and shake sideways.",
          "Simply shake {A} horizontally without {a} details.",
          "Take hold of {A} using {a} and move horizontally.",
          "Grab and shake {A} horizontally without mentioning {a}.",
          "Use {a} to hold {A} firmly and shake horizontally.",
          "Hold {A} and move it side to side.",
          "Grab {A} with {a} and shake horizontally.",
          "Pick {A} up and shake it horizontally.",
          "Lift {A} using {a} and shake it sideways.",
          "Shake {A} from side to side.",
          "Use {a} to grab {A} and move it horizontally.",
          "Pick up {A} and shake it side to side.",
          "Hold {A} using {a} and shake it horizontally.",
          "Lift {A} and move it back and forth.",
          "With {a}, grab {A} and shake it horizontally.",
          "Pick up {A} with {a}, shake it sideways.",
          "Using {a}, shake {A} horizontally.",
          "Lift {A} and move it side-to-side.",
          "Shake {A} horizontally after lifting with {a}.",
          "Pick up {A} and shake it from side to side.",
          "Using {a}, pick up {A} and shake sideways.",
          "Shake {A} side-to-side after grabbing it.",
          "Lift {A} using {a} and shake horizontally.",
          "Hold {A} and move it side to side.",
          "Pick up {A} using {a}, shake it horizontally."
        ],
        "unseen": [
          "Grab {A} with {a} and shake horizontally.",
          "Shake {A} side-to-side after picking it up.",
          "Grab {A} with {a}, shake horizontally.",
          "Shake {A} horizontally after grabbing it.",
          "Grip {A} and shake it horizontally.",
          "Use {a} to hold {A} and shake sideways.",
          "Grab {A} and shake it horizontally.",
          "Use {a} to pick {A} and shake it.",
          "Shake {A} horizontally after grabbing.",
          "Grab {A}, shake it horizontally."
        ]
      },
      "sha256": "58c4bacc87dbd400a17f86a59c6d109cf84fe21c656a1532eeb4ac2979f8085c",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/shake_bottle_horizontally.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle_horizontally.py"
    },
    "task_instruction_plus/shake_bottle_horizontally": {
      "full_description": "Shake the bottle horizontally with proper arm",
      "schema": "{A} notifies the bottle, {a} notifies the arm to pick the bottle",
      "pools": {
        "r1_distraction": [
          "I was just thinking about the schedule, but go ahead and pick the bottle using one arm and move it horizontally.",
          "Before we start, could you lift the bottle and shake it horizontally?",
          "By the way, I heard you need to grab the bottle and shake in a horizontal motion.",
          "Just a quick thought - use one arm to hold the bottle and shake it sideways.",
          "While you're at it, hold the bottle with one arm and move it left and right.",
          "Real quick - use one arm to grab the bottle and shake horizontally.",
          "Oh, one more thing - grab the bottle, shake it horizontally, then release.",
          "I almost forgot - lift the bottle using one arm and shake it sideways.",
          "Before you continue, pick up the bottle and shake it horizontally.",
          "Say, did you grab the bottle with one arm and shake horizontally?",
          "Just occurred to me - move the bottle side-to-side after grabbing it.",
          "Real quick interruption: hold the bottle and move it side to side.",
          "I was just thinking - using one arm, grab the bottle and shake it sideways.",
          "Before we proceed, pick up the bottle and shake it side to side.",
          "Quick thought - hold the bottle using one arm and shake it horizontally."
        ],
        "r2_commonsense": [
          "Pick up the liquid reservoir the bottle using one arm and execute lateral oscillations.",
          "Lift the portable beverage container the bottle and perform side-to-side movements.",
          "Use one arm to secure the fluid holder the bottle and perform sustained lateral motion.",
          "Grasp the beverage vessel the bottle with one arm and execute side-to-side oscillations.",
          "Acquire the liquid container the bottle using one arm and perform repetitive lateral movements.",
          "Take the portable vessel the bottle in one arm and execute sustained horizontal oscillations.",
          "Grip the fluid container the bottle using one arm, then perform sustained lateral movements.",
          "Secure the beverage holder the bottle with one arm and perform controlled side-to-side motion.",
          "Lift the liquid reservoir the bottle and execute rapid lateral oscillations.",
          "Hold the portable container the bottle using one arm and perform continuous side-to-side movements.",
          "Obtain the fluid vessel the bottle using one arm and execute vigorous lateral motion.",
          "Grasp the beverage container the bottle with one arm and perform sustained oscillations laterally.",
          "Use one arm to acquire the liquid holder the bottle and perform side-to-side movements.",
          "Take the portable beverage reservoir the bottle and execute controlled lateral oscillations.",
          "Secure the fluid container the bottle using one arm and perform repetitive lateral motion.",
          "Lift the beverage vessel the bottle with one arm and execute side-to-side agitation.",
          "Hold the liquid container the bottle steadily and perform lateral oscillatory movements.",
          "Grasp the portable holder the bottle using one arm and perform sustained side-to-side motion.",
          "Acquire the fluid reservoir the bottle using one arm and execute rapid lateral movements.",
          "Use one arm to lift the beverage container the bottle and perform lateral oscillations.",
          "Take the liquid vessel the bottle with one arm and execute controlled side-to-side movements.",
          "Secure the portable container the bottle using one arm and perform continuous lateral agitation.",
          "Lift the fluid holder the bottle and perform energetic side-to-side oscillations.",
          "Grasp the beverage reservoir the bottle with one arm and execute sustained lateral motion.",
          "Obtain the liquid container the bottle using one arm and perform vigorous side-to-side movements."
        ],
        "r3_reasoning": [
          "Ensure that the bottle has been moved through a complete range of lateral oscillations.",
          "Verify that the liquid container the bottle has experienced sustained side-to-side motion.",
          "Make certain that the bottle has undergone vigorous lateral agitation.",
          "Establish that the bottle is in a state of having completed its horizontal oscillatory sequence.",
          "Confirm that the beverage vessel the bottle has performed full side-to-side movements.",
          "Achieve the condition where the bottle has been subject to continuous lateral motion.",
          "Ensure the bottle displays the result of having been properly agitated horizontally.",
          "Verify that the bottle has been subjected to sustained lateral oscillations.",
          "Make sure that the bottle has been thoroughly moved in a horizontal direction.",
          "Establish that the bottle has completed its required lateral motion sequence."
        ]
      },
      "sha256": "00792f6505f0b80e482e596ecc0156f2f59a09606c574cdd1df4ff693b42dfb4",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/shake_bottle_horizontally.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/shake_bottle_horizontally.py"
    },
    "task_instruction/stack_blocks_two": {
      "full_description": "there are two blocks on the table, the color of the blocks is <red, green>, <move the blocks to the center of the table>, and <stack the geen block on the red block>",
      "schema": "{A} notifies the red block, {B} notifies the green block, {a} notifies the arm to manipulate the red block, {b} notifies the arm to manipulate the green block",
      "pools": {
        "seen": [
          "{a} grabs {A}, places it in the center, {b} stacks {B} on {A}.",
          "Shift {A} and {B} to the center and stack {B} on {A}.",
          "Move {A} to the center, then {b} stacks {B} on {A}.",
          "{a} relocates {A} and {b} moves {B}, then stacks {B} on {A}.",
          "Set {A} and {B} at the center, stacking {B} atop {A}.",
          "Place {A} and {B} centrally, then stack {B} on {A}.",
          "Move {A} and {B} to the center, then stack {B} above {A}.",
          "{a} takes {A}, sets it in the center, {b} places {B} on {A}.",
          "Relocate {A} and {B} to the center, then layer {B} over {A}.",
          "{a} moves {A} to the center, {b} stacks {B} onto {A}.",
          "Shift {A} and {B} to the middle, then stack {B} over {A}.",
          "Grab {A} using {a}, position it at the center, and do the same for {B} using {b}, stacking {B} on {A}.",
          "Pick up {A} with {a} and {B} with {b}, move both to the table's center and stack {B} over {A}.",
          "Use {a} to move {A} and {b} to move {B} to the center, then place {B} onto {A}.",
          "Relocate {A} and {B} to the table's midpoint, and stack {B} on top of {A}.",
          "Pick up {A} and {B}, set them at the center, then position {B} above {A}.",
          "Place {A} in the center, then move {B} there and stack {B} on {A}.",
          "Utilize {a} to grab {A} and {b} to grab {B}, move them to the middle, and stack {B} above {A}.",
          "Set {A} at the center, then stack {B} over {A} after placing it alongside.",
          "Move {A} and {B} to the center, using {a} and {b}, and stack {B} on top of {A}.",
          "Shift {A} and {B} to the center, then position {B} on {A}.",
          "Use {a} to move {A}, then {b} to stack {B} on {A} at the center.",
          "Place {A} and {B} at the center and then put {B} on {A}.",
          "Move {A} using {a}, stack {B} on {A} after centering them.",
          "Center {A} and {B} on the table and stack {B} on top of {A}.",
          "Use {b} to center {B}, place it on {A} after moving them to the center.",
          "Set {A} and {B} at the table's center, then stack {B} on {A}.",
          "Move {A} to the center using {a}, then stack {B} on {A} using {b}.",
          "Place {A} and {B} together at the center, then stack {B} on top.",
          "Use {a} for {A}, then stack {B} on {A} after placing both at the center.",
          "Use {a} to move {A} and {b} to stack {B}.",
          "Bring {A} to the center, then stack {B} over it.",
          "Relocate {A} to the middle and place {B} on it.",
          "Move {A} with {a}, then stack {B} on it using {b}.",
          "Position {A} at the center and stack {B} above it.",
          "Use {a} to center {A}, then stack {B} with {b}.",
          "Shift {A} to the center and place {B} on top.",
          "Use {a} to move {A} and {b} to position {B}.",
          "Move {A} to the middle and put {B} on top of it.",
          "Center {A} using {a}, then stack {B} with {b} on top.",
          "Move {A} and {B} to the center; stack {B} on top of {A}.",
          "Grab {A}, set it in the center, then stack {B} over it.",
          "Use {a} for {A}, place it in the center, then use {b} to stack {B} above {A}.",
          "Position {A} and {B} at the center, then stack {B} on {A}.",
          "Move {A} and put it in the center; stack {B} on top using {b}.",
          "Set {A} in the center, then position {B} on top of it.",
          "Use {a} to place {A} in the center; stack {B} on it with {b}.",
          "Put {A} in the center, then add {B} above it.",
          "Move {A} to the middle, use {b} to stack {B} right on top.",
          "Place {A} and {B} in the center, then stack {B} above {A}."
        ],
        "unseen": [
          "Move {A} and {B} to the center, then stack {B} on {A}.",
          "Bring {A} and {B} to the center, then position {B} above {A}.",
          "Take {A} and {B}, move them to the table's center, then stack {B} on {A}.",
          "Move {A} and {B} to the center and place {B} atop {A}.",
          "Move {A} and {B} to the table's center, then stack {B} on {A}.",
          "Grab {A}, place it at the center, then stack {B} on {A}.",
          "Place {A} in the middle, then stack {B} on it.",
          "Move {A} to the center, then put {B} on top.",
          "Place {A} in the center, then stack {B} on it.",
          "Use {a} to move {A} to the center, then set {b} and stack {B} on {A}."
        ]
      },
      "sha256": "76cd955187082738dcf6d89484d9c2cef531fb4b69c9a47b3ce44634705b24fc",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_blocks_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_two.py"
    },
    "task_instruction_plus/stack_blocks_two": {
      "full_description": "there are two blocks on the table, the color of the blocks is <red, green>, <move the blocks to the center of the table>, and <stack the geen block on the red block>",
      "schema": "{A} notifies the red block, {B} notifies the green block, {a} notifies the arm to manipulate the red block, {b} notifies the arm to manipulate the green block",
      "pools": {
        "r1_distraction": [
          "I was thinking about the morning schedule, but first shift the red block and the green block to the center and stack the green block on the red block.",
          "Before we continue, could you move the red block to the center, then the other arm stacks the green block on the red block?",
          "By the way, I heard using one arm and the other arm to relocate the red block and the green block, then stack the green block on the red block works well.",
          "Just a quick thought - set the red block and the green block at the center, stacking the green block atop the red block.",
          "While you're at it, place the red block and the green block centrally, then stack the green block on the red block.",
          "Real quick - move the red block and the green block to the center, then stack the green block above the red block.",
          "Oh, one more thing - one arm takes the red block, sets it in the center, the other arm places the green block on the red block.",
          "I almost forgot - relocate the red block and the green block to the center, then layer the green block over the red block.",
          "Before you continue, one arm moves the red block to the center, the other arm stacks the green block onto the red block.",
          "Say, did you shift the red block and the green block to the middle, then stack the green block over the red block?",
          "Just occurred to me - grab the red block using one arm, position it at the center, and do the same for the green block using the other arm, stacking the green block on the red block.",
          "Real quick interruption: pick up the red block with one arm and the green block with the other arm, move both to the table's center and stack the green block over the red block.",
          "I was just thinking - use one arm to move the red block and the other arm to move the green block to the center, then place the green block onto the red block.",
          "Before we proceed, relocate the red block and the green block to the table's midpoint, and stack the green block on top of the red block.",
          "Quick thought - pick up the red block and the green block, set them at the center, then position the green block above the red block."
        ],
        "r2_commonsense": [
          "Shift the foundational rectangular solid object the red block and the secondary dimensional form the green block to the table's center, then arrange the green block atop the red block.",
          "Move the primary geometric solid the red block and the secondary cubic object the green block toward the table's midpoint, then layer the green block over the red block.",
          "Use one arm to position the base solid rectangular object the red block and the other arm to place the upper geometric form the green block at the center, then stack the green block on the red block.",
          "Relocate the primary cubic form the red block and the secondary rectangular object the green block to the central location, then position the green block above the red block.",
          "Transport the foundational solid object the red block and the upper dimensional form the green block to the table center, then arrange the green block upon the red block.",
          "Place the primary geometric object the red block and the secondary cubic form the green block at the center region, then stack the green block on top of the red block.",
          "Utilize one arm to move the base solid object the red block and the other arm to position the secondary form the green block, arranging the green block above the red block at the center.",
          "Position the foundational rectangular object the red block and the secondary dimensional solid the green block in the table's center, then layer the green block over the red block.",
          "Bring the primary solid cubic object the red block to the center using one arm, then arrange the green block on top of it using the other arm.",
          "Move the geometric solid the red block and the secondary object the green block to the central location and construct a vertical arrangement with the green block on the red block.",
          "Use one arm for the primary object the red block, then stack the green block on the red block after placing both at the center.",
          "Set the foundational solid object the red block and the secondary rectangular form the green block at the table's center, then stack the green block on the red block.",
          "Move the primary geometric object the red block to the center using one arm, then stack the green block on the red block using the other arm.",
          "Place the foundational solid object the red block and the secondary form the green block together at the center, then stack the green block on top.",
          "Use one arm to move the base rectangular object the red block and the other arm to stack the green block.",
          "Bring the primary solid object the red block to the center, then stack the secondary form the green block over it.",
          "Relocate the foundational cubic object the red block to the middle and place the secondary geometric form the green block on it.",
          "Move the primary geometric object the red block with one arm, then stack the green block on it using the other arm.",
          "Position the foundational rectangular solid the red block at the center and stack the secondary object the green block above it.",
          "Use one arm to center the primary object the red block, then stack the green block with the other arm.",
          "Shift the foundational solid form the red block to the center and place the secondary rectangular object the green block on top.",
          "Use one arm to move the base object the red block and the other arm to position the secondary dimensional form the green block.",
          "Move the primary geometric solid the red block to the middle and put the secondary object the green block on top of it.",
          "Center the foundational rectangular object the red block using one arm, then stack the secondary form the green block with the other arm on top.",
          "Move the primary solid object the red block and the secondary form the green block to the center; stack the green block on top of the red block."
        ],
        "r3_reasoning": [
          "Ensure that the red block is positioned at the table's center with the green block resting securely on top of it.",
          "Verify that the two rectangular solid objects are arranged with the red block as the base and the green block on top.",
          "Make certain that the green block is positioned above the red block forming a complete two-level stack at the center.",
          "Establish that both geometric objects are centered on the table with the correct stacking order.",
          "Confirm that the vertical arrangement has the red block as the foundation with the green block properly positioned above it.",
          "Achieve the state where the red block and the green block are centrally located and stacked in the specified order.",
          "Verify that the rectangular objects have been relocated to the center and properly layered.",
          "Ensure the two cubic forms are arranged with the green block supported by the red block.",
          "Make sure that the green block is fully resting on the red block with proper alignment.",
          "Establish that the complete stacking configuration is achieved with both objects centered."
        ]
      },
      "sha256": "9ed7de2523ba8ffa5814458542277b16b83c3592bb737b2b4b3bca20160bbeda",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/stack_blocks_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_blocks_two.py"
    },
    "task_instruction/stack_bowls_two": {
      "full_description": "stack the two bowls on top of each other",
      "schema": "{A} notifies the first bowl, {B} notifies the second bowl",
      "pools": {
        "seen": [
          "Lift {A}, put it on the table, and stack {B} above.",
          "Pick up {A}, place it down, then position {B} on top.",
          "Grab {A}, set it down, then place {B} over it.",
          "Place {A} on the surface, then stack {B} above it.",
          "Pick {A}, position on the table, and place {B} over it.",
          "Lift {A}, lay it down, and stack {B} on top.",
          "Take {A}, position it, then stack {B} directly above.",
          "Grab {A}, then carefully place {B} on top.",
          "Set {A} down, then add {B} over it.",
          "Lift {B}, stack it precisely on top of {A}.",
          "Pick {A}, then stack {B} on it.",
          "Grab {A}, position it, and place {B} on top.",
          "Align {A} and {B}, then stack {B} on {A}.",
          "Place {A} down, then set {B} on top of {A}.",
          "Position {A}, lift {B}, and place {B} on {A}.",
          "Pick up {A}, grab {B}, and stack {B} on {A}.",
          "Arrange {A}, lift {B} with the arm, and stack them.",
          "Use the arm to place {A}, then stack {B} on top.",
          "Position {A} with the arm, then set {B} above it.",
          "Grasp {A}, then use the arm to align and stack {B}.",
          "Grab {A}, then stack {B} on top.",
          "Lift {A}, position {B} above it, and stack.",
          "Set {B} over {A} to create the stack.",
          "Position {B} carefully on {A}.",
          "Hold {A} and stack {B} neatly atop.",
          "Take {A}, align {B}, and stack them.",
          "Place {A} down, then set {B} above it.",
          "Lift {B} and position it neatly over {A}.",
          "Stack {B} securely on top of {A}.",
          "Align {B} over {A}, then complete the stack.",
          "Place {A} down and stack {B} on top.",
          "Lift {A}, grab {B}, and set {B} on {A}.",
          "{A} goes at the bottom, {B} rests above.",
          "Pick {A}, position {B}, and place it over {A}.",
          "Put {A} first, then bring {B} to stack above.",
          "Stack {B} carefully over {A}.",
          "Set down {A} and drop {B} on top.",
          "Grab {A}, lift it up, position {B}, and stack them.",
          "Hold {A} steady and slide {B} on.",
          "Take {A}, place {B} above, and let go.",
          "Pick up {A} and set {B} on it.",
          "Take {A}, place it, and stack {B} on top.",
          "Lift {B}, then stack it on {A}.",
          "Position {A} and stack {B} securely onto it.",
          "Grab {A} with {a}, place it, and stack {B} with {b}.",
          "Pick up {A} using {a}, then stack {B} using {b}.",
          "With {a}, lift {A} and stack {B} using {b}.",
          "Use {a} for {A}, place it, and stack {B} with {b}.",
          "Grab {A} with {a}, put it down, then stack {B} onto it.",
          "Lift {A} using {a}, set it down, and stack {B} using {b}."
        ],
        "unseen": [
          "Grab {A}, then place it on the surface.",
          "Take {A}, set it down, and stack {B} on top.",
          "Stack {B} on top of {A}.",
          "Place {B} carefully over {A} to stack them.",
          "Stack {B} directly over {A}.",
          "Place {B} onto {A} to form a stack.",
          "Grab {A}, then set {B} on top.",
          "Pick up {A} and stack {B} above.",
          "Grab {A} and stack {B} on it.",
          "Place {A} down, then put {B} on top."
        ]
      },
      "sha256": "9d86d73e6bac43a9f7057dad27fde71e60391f97acbd01188e048094c0b63185",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stack_bowls_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_two.py"
    },
    "task_instruction_plus/stack_bowls_two": {
      "full_description": "stack the two bowls on top of each other",
      "schema": "{A} notifies the first bowl, {B} notifies the second bowl",
      "pools": {
        "r1_distraction": [
          "I was thinking about meal prep, but first lift the first bowl, put it on the table, and stack the second bowl above.",
          "Before we continue, could you pick up the first bowl, place it down, then position the second bowl on top?",
          "By the way, I heard grabbing the first bowl, setting it down, then placing the second bowl over it works well.",
          "Just a quick thought - place the first bowl on the surface, then stack the second bowl above it.",
          "While you're at it, pick the first bowl, position on the table, and place the second bowl over it.",
          "Real quick - lift the first bowl, lay it down, and stack the second bowl on top.",
          "Oh, one more thing - take the first bowl, position it, then stack the second bowl directly above.",
          "I almost forgot - grab the first bowl, then carefully place the second bowl on top.",
          "Before you continue, set the first bowl down, then add the second bowl over it.",
          "Say, did you lift the second bowl, stack it precisely on top of the first bowl?",
          "Just occurred to me - pick the first bowl, then stack the second bowl on it.",
          "Real quick interruption: grab the first bowl, position it, and place the second bowl on top.",
          "I was just thinking - align the first bowl and the second bowl, then stack the second bowl on the first bowl.",
          "Before we proceed, place the first bowl down, then set the second bowl on top of the first bowl.",
          "Quick thought - position the first bowl, lift the second bowl, and place the second bowl on the first bowl."
        ],
        "r2_commonsense": [
          "Lift the foundational concave serving vessel the first bowl, position it on the surface, then place the secondary serving container the second bowl above it.",
          "Acquire the primary concave dimensional form the first bowl, set it on the table surface, then position the secondary curved vessel the second bowl atop it.",
          "Take the foundational serving implement the first bowl, place it down, then carefully position the secondary concave container the second bowl over it.",
          "Arrange the primary curved vessel the first bowl on the surface, then place the secondary dimensional serving form the second bowl above it.",
          "Position the foundational concave container the first bowl on the table, then stack the secondary curved serving vessel the second bowl directly above.",
          "Lift the primary dimensional serving vessel the first bowl, lay it down, then position the secondary curved container the second bowl on top.",
          "Take the foundational curved serving form the first bowl, position it, then stack the secondary dimensional vessel the second bowl} directly above.",
          "Grab the primary concave serving container the first bowl, then carefully position the secondary curved vessel the second bowl on top.",
          "Set the foundational serving implement the first bowl} down, then add the secondary curved dimensional form the second bowl over it.",
          "Position the primary curved vessel the first bowl} and stack the secondary dimensional serving container the second bowl} securely above.",
          "Lift the foundational concave form the first bowl} and position the secondary serving vessel the second bowl} above it.",
          "Arrange the primary dimensional serving container the first bowl} with the secondary curved form the second bowl} positioned upon it.",
          "Use the arm to place the foundational serving vessel the first bowl}, then stack the secondary concave container the second bowl} on top.",
          "Position the primary curved dimensional form the first bowl} using the arm, then set the secondary serving vessel the second bowl} above it.",
          "Grasp the foundational serving container the first bowl}, then use the arm to align and stack the secondary curved form the second bowl}.",
          "Grab the primary dimensional vessel the first bowl}, then stack the secondary serving form the second bowl} on top.",
          "Lift the foundational curved serving implement the first bowl}, position the secondary concave vessel the second bowl} above it, and stack.",
          "Set the secondary serving container the second bowl} over the primary curved form the first bowl} to create the stack.",
          "Position the secondary dimensional vessel the second bowl} carefully on the foundational serving container the first bowl}.",
          "Hold the primary curved serving form the first bowl} and stack the secondary concave vessel the second bowl} neatly atop.",
          "Take the foundational serving implement the first bowl}, align the secondary curved vessel the second bowl}, and stack them.",
          "Place the primary dimensional container the first bowl} down, then set the secondary serving vessel the second bowl} above it.",
          "Lift the secondary concave form the second bowl} and position it neatly over the foundational vessel the first bowl}.",
          "Stack the secondary dimensional serving container the second bowl} securely on top of the primary curved vessel the first bowl}.",
          "Align the secondary serving form the second bowl} over the primary dimensional vessel the first bowl}, then complete the stack."
        ],
        "r3_reasoning": [
          "Ensure that the first bowl is positioned on the surface with the second bowl resting securely on top of it.",
          "Verify that the two concave serving containers are arranged with the first bowl as the base and the second bowl on top.",
          "Make certain that the second bowl is positioned above the first bowl forming a complete two-level stack.",
          "Establish that both serving vessels are properly positioned with the correct stacking order.",
          "Confirm that the vertical arrangement has the first bowl as the foundation with the second bowl properly positioned above it.",
          "Achieve the state where the first bowl and the second bowl are arranged in the specified nested order.",
          "Verify that the two concave containers have been properly layered.",
          "Ensure the two curved serving vessels are arranged with the second bowl supported by the first bowl.",
          "Make sure that the second bowl is fully resting on the first bowl with proper alignment.",
          "Establish that the complete stacking configuration is achieved with both vessels properly nested."
        ]
      },
      "sha256": "6683ccbcc9638731894f0f9784ed3055aa2d0727cb3f0e9c215896c3950e0795",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/stack_bowls_two.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stack_bowls_two.py"
    },
    "task_instruction/stamp_seal": {
      "full_description": "Grab the stamp and stamp onto the specific color mat",
      "schema": "{A} notifies the stamp, {B} notifies the mat color,  {a} notifies the arm to pick the stamp",
      "pools": {
        "seen": [
          "Use {a} to grab {A}",
          "Press {A} firmly onto {B}",
          "Position {A} over {B} and stamp",
          "Grab {A}, align it with {B}",
          "Use {a} to pick {A} for {B}",
          "Lift {A} and press onto {B}",
          "Grab {A} with {a} then stamp",
          "Position {A} on {B}, apply pressure",
          "Use {a} to grab {A}, press {B}",
          "Pick {A} and press down on {B}",
          "Stamp {B} after grabbing {A}.",
          "With {a}, take {A} and mark {B}.",
          "Place {A} onto {B} after grabbing.",
          "Use {a} to lift {A}, then stamp {B}.",
          "Pick {A} and apply it onto {B}.",
          "Grab {A} with {a}, press it onto {B}.",
          "Take {A} and stamp it on {B}.",
          "With {a}, secure {A} and mark {B}.",
          "Grab {A} and press on {B}.",
          "Use {a}, take {A}, and apply to {B}.",
          "Place {A} onto {B}",
          "Grab {A} with {a} now",
          "Stamp {A} on {B}",
          "Use {a} to place {A}",
          "Press {A} onto {B}",
          "Grab {A} using {a}",
          "Set {A} on {B}",
          "With {a}, stamp {A}",
          "Use {A} to stamp {B}",
          "Grab {A} and press {B}",
          "Use {a} to grab {A} and stamp",
          "Stamp {B} after grabbing {A}",
          "Pick up {A} and press onto {B}",
          "Hold {A} with {a} and stamp {B}",
          "Grab {A} to press onto {B}",
          "Use {a} for {A} and stamp {B}",
          "Pick {A} and stamp it on {B}",
          "Press {A} onto {B} with {a}",
          "Bring {A} to {B} and stamp",
          "Use {a} to press {A} on {B}",
          "{a} grabs {A}, stamps {B}",
          "Pick {A} and press on {B}",
          "{a} picks {A}, stamps {B}",
          "Take {A} and stamp {B}",
          "Use {A} to mark {B}",
          "{a} holds {A}, presses {B}",
          "Grab {A} and press {B}",
          "Pick up {A}, stamp {B}",
          "{a} uses {A} to stamp {B}",
          "Hold {A} and press {B}"
        ],
        "unseen": [
          "Grab {A}, press onto {B}",
          "Pick {A} and stamp on {B}",
          "Pick {A} and press on {B}.",
          "Use {a} to grab {A}, stamp {B}.",
          "Pick {A} and stamp {B}",
          "Use {a} to grab {A}",
          "Grab {A} using {a} and stamp {B}",
          "Pick {A} to stamp {B}",
          "Grab {A} and stamp {B}",
          "Stamp {B} using {A}"
        ]
      },
      "sha256": "21ed41b709f7438bbef10a1cecd1a599f93c4af4aba4049e000de8dc00951ef1",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/stamp_seal.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stamp_seal.py"
    },
    "task_instruction_plus/stamp_seal": {
      "full_description": "Grab the stamp and stamp onto the specific color mat",
      "schema": "{A} notifies the stamp, {B} notifies the mat color, {a} notifies the arm to pick the stamp",
      "pools": {
        "r1_distraction": [
          "I was thinking about organization, anyway use one arm to grab the stamp and press the mat.",
          "Before we continue, could you press the stamp firmly onto the mat?",
          "By the way, I heard positioning the stamp over the mat and stamping works well.",
          "Just a quick thought - grab the stamp, align it with the mat.",
          "While you're at it, use one arm to pick the stamp for the mat.",
          "Real quick - lift the stamp and press onto the mat.",
          "Oh, one more thing - grab the stamp with one arm then stamp.",
          "I almost forgot - position the stamp on the mat, apply pressure.",
          "Before you continue, use one arm to grab the stamp, press the mat.",
          "Say, did you pick the stamp and press down on the mat?",
          "Just occurred to me - stamp the mat after grabbing the stamp.",
          "Real quick interruption: with one arm, take the stamp and mark the mat.",
          "I was just thinking - place the stamp onto the mat after grabbing.",
          "Before we proceed, use one arm to lift the stamp, then stamp the mat.",
          "Quick thought - pick the stamp and apply it onto the mat."
        ],
        "r2_commonsense": [
          "Use one arm to acquire the authentication marking tool the stamp and apply it with pressure onto the colored authentication surface.",
          "Grasp the impression-making implement the stamp using one arm, then press it firmly onto the authentication target surface.",
          "Position the authentication marking device the stamp above the colored receiving surface and apply downward pressure.",
          "Acquire the impression apparatus the stamp with one arm, align it with the authentication target, then apply impression force.",
          "Use one arm to lift the marking implement the stamp, then direct it downward onto the receiving surface.",
          "Grab the impression tool the stamp using one arm, then apply it with force onto the colored authentication surface.",
          "Take the marking apparatus the stamp and press it down on the colored receiving surface.",
          "With one arm, secure the impression implement the stamp and direct it downward onto the target surface.",
          "Acquire the marking tool the stamp using one arm, then apply it onto the colored authentication surface.",
          "Position the impression device the stamp on the receiving surface after acquiring it with one arm.",
          "Use one arm to grasp the stamp, press it with force onto the authentication target.",
          "Take the authentication marking tool the stamp and stamp it on the colored receiving surface.",
          "With one arm, secure the impression apparatus the stamp and mark the target surface.",
          "Grab the marking implement the stamp using one arm, press it onto the surface.",
          "Use one arm, take the stamp, and apply it onto the authentication surface.",
          "Place the marking device the stamp onto the colored target surface.",
          "Grab the stamp using one arm now and apply to the mat.",
          "Stamp the authentication surface after obtaining the stamp.",
          "Use one arm to position the marking implement the stamp onto the mat.",
          "Press the impression tool the stamp onto the colored surface.",
          "Grab the stamp using one arm and direct it downward.",
          "Set the marking apparatus the stamp on the authentication surface.",
          "With one arm, stamp the impression device the stamp downward.",
          "Use the impression implement the stamp to mark the surface.",
          "Grab the stamp and press the colored surface."
        ],
        "r3_reasoning": [
          "Ensure that the marking implement the stamp has been successfully applied to the authentication surface.",
          "Verify that the impression from the stamp is visible on the colored receiving surface.",
          "Make certain that the stamping action has been completed with the stamp pressed onto the mat.",
          "Establish that the stamp has transferred its marking pattern onto the target surface.",
          "Confirm that the authentication surface displays the impression from the stamp.",
          "Achieve the state where the marking tool the stamp has successfully imprinted the target.",
          "Verify that the colored surface shows the complete impression from the stamp.",
          "Ensure that the stamp has been properly applied with adequate force onto the mat.",
          "Make sure that the authentication marking is visible on the receiving surface.",
          "Establish that the stamping operation between the stamp and the mat is complete and successful."
        ]
      },
      "sha256": "36469f8b0896850aac2b98624596eba9df1c8a739423222e549c9bc0147e79f7",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/stamp_seal.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/stamp_seal.py"
    },
    "task_instruction/turn_switch": {
      "full_description": "use the robotic arm to click the switch",
      "schema": "{A} notifies the switch, {a} notifies the arm to click the switch",
      "pools": {
        "seen": [
          "Press {A} using {a}.",
          "Activate {A} with {a}.",
          "Move to {A} and click it.",
          "Click {A} directly.",
          "Press {A} to activate.",
          "Engage {A} with a press.",
          "Interact with {A}.",
          "Push {A} via {a}.",
          "Toggle {A} with {a}.",
          "Engage {A} using {a}.",
          "Engage {a} to press {A}",
          "Press {A} directly",
          "Use {a} to interact with {A}",
          "Trigger {A} without referencing {a}",
          "Command {a} to engage {A}",
          "Set the switch at {A}",
          "Activate {A} with robotic precision",
          "Direct {a} to operate {A}",
          "Switch {A} to its active state",
          "Deploy {a} to press {A}",
          "Engage {A} using the robotic arm",
          "Press {A} using robotic control",
          "Click {A} with robotic precision",
          "Activate {A} directly",
          "Press {A} via automation",
          "Click {A} using automated tools",
          "Deploy {a} to operate {A}",
          "Use {a} to engage {A}",
          "Set {a} to press {A}",
          "Operate {A} with {a}",
          "Activate {A} via {a}",
          "Trigger {A} with precision",
          "Tap {A} to engage it",
          "Locate and press {A}",
          "Initiate {A} by clicking",
          "Engage {A} using {a}",
          "Approach and tap {A} via {a}",
          "Click on {A} precisely",
          "Interact with {A} directly",
          "Press {A} carefully with {a}",
          "Directly interact with {A}",
          "Activate the {A} using {a}",
          "Press {A} with {a}",
          "Click {A} to activate it",
          "Operate {a} to engage {A}",
          "Engage with {A} manually",
          "Trigger {A} using {a}",
          "Locate and press {A}",
          "Use {a} for switching {A}",
          "Activate {A} by pressing it"
        ],
        "unseen": [
          "Click {A} with {a}.",
          "Use {a} to press {A}.",
          "Click {A} using {a}",
          "Activate the switch at {A}",
          "Direct {a} to click {A}",
          "Click {A} with {a}",
          "Click {A} with {a}",
          "Press {A} using {a}",
          "Move and click the {A}",
          "Use {a} to press {A}"
        ]
      },
      "sha256": "c03ec558d8007b76a8f7908858030719c61a04501cb6a99d2e6515511c1790b8",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction/turn_switch.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/turn_switch.py"
    },
    "task_instruction_plus/turn_switch": {
      "full_description": "use the robotic arm to click the switch",
      "schema": "{A} notifies the switch, {a} notifies the arm to click the switch",
      "pools": {
        "r1_distraction": [
          "I was thinking about efficiency, but first press the switch using one arm.",
          "Before we continue, could you activate the switch with one arm?",
          "By the way, I heard moving to the switch and clicking it works well.",
          "Just a quick thought - click the switch directly.",
          "While you're at it, press the switch to activate.",
          "Real quick - engage the switch with a press.",
          "Oh, one more thing - interact with the switch.",
          "I almost forgot - push the switch via one arm.",
          "Before you continue, toggle the switch with one arm.",
          "Say, did you engage the switch using one arm?",
          "Just occurred to me - engage one arm to press the switch.",
          "Real quick interruption: press the switch directly.",
          "I was just thinking - use one arm to interact with the switch.",
          "Before we proceed, trigger the switch without referencing one arm.",
          "Quick thought - command one arm to engage the switch."
        ],
        "r2_commonsense": [
          "Use one arm to engage the toggle activation mechanism the switch by applying direct pressure.",
          "Employ one arm to depress the control activation device the switch.",
          "Direct one arm to contact and operate the mechanical toggle mechanism the switch.",
          "Apply force using one arm to engage the switch activation control the switch.",
          "Utilize one arm to press the toggle mechanical device the switch.",
          "Activate the switch mechanism the switch using one arm with direct engagement.",
          "Engage the control mechanism the switch using one arm by applying downward pressure.",
          "Use one arm to directly contact and depress the toggle device the switch.",
          "Press the activation control mechanism the switch using one arm.",
          "Deploy one arm to engage the switch mechanism the switch.",
          "Use one arm to engage the toggle activation mechanism the switch via direct contact.",
          "Activate the switch control device the switch using the robotic actuator one arm.",
          "Move the mechanical arm one arm to click the activation toggle the switch.",
          "Engage the switch using the robotic control system one arm.",
          "Direct the robotic manipulator one arm to press the control device the switch.",
          "Set the switch at the switch using mechanical activation.",
          "Activate the switch with robotic system engagement.",
          "Direct the robotic arm one arm to operate the control the switch.",
          "Switch the switch to its active state using one arm.",
          "Deploy the mechanical actuator one arm to press the switch.",
          "Engage the switch using the robotic manipulator one arm.",
          "Press the switch using automated control one arm.",
          "Click the switch with robotic precision from one arm.",
          "Activate the switch using direct mechanical force.",
          "Press the switch via automated engagement from one arm."
        ],
        "r3_reasoning": [
          "Ensure that the toggle mechanism the switch has been successfully engaged and activated.",
          "Verify that the switch control the switch has been pressed and is now in the activated state.",
          "Make certain that the switch has transitioned from its initial state to activated.",
          "Establish that the switch has been properly engaged by one arm.",
          "Confirm that the control mechanism the switch displays activation.",
          "Achieve the state where the switch is fully activated and engaged.",
          "Verify that the switch the switch shows confirmation of activation.",
          "Ensure that the switch has been successfully toggled by the robotic system.",
          "Make sure that the control device the switch is now in its activated configuration.",
          "Establish that the switch engagement operation for the switch is complete and successful."
        ]
      },
      "sha256": "4d9494f3f12907b6cfbc7096fa7365d6aff8fb201997e99ba9cf28b5dcf6b463",
      "revision": "8f077616e5c3c1cb29b88db2323212d51243438a",
      "source_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/description/task_instruction_plus/turn_switch.json",
      "verifier_url": "https://github.com/Robot-Robustness/RoboTwin2.0-Plus/blob/8f077616e5c3c1cb29b88db2323212d51243438a/envs/turn_switch.py"
    }
  }
}