Instruction: Move the bowl to the right

[{"start_sec": 0.0, "end_sec": 5.895, "subtask": "grasp the bowl on the table with the robot gripper"}, {"start_sec": 5.895, "end_sec": 9.049, "subtask": "push the bowl to the right side of the table"}]


Instruction: Take the black lid from the top of the can and put it on the table

[{"start_sec": 0.0, "end_sec": 7.304, "subtask": "pick up the black lid from the top of the can"}, {"start_sec": 7.304, "end_sec": 10.941, "subtask": "place the black lid on the table to the left of the can"}]


Instruction: Move the bowl to the right

[{"start_sec": 0.0, "end_sec": 6.3, "subtask": "pick up the black bowl on the table"}, {"start_sec": 6.3, "end_sec": 9.515, "subtask": "push the black bowl to the right side of the table"}]


Instruction: Take the black lid from the top of the can and put it on the table

[{"start_sec": 0.0, "end_sec": 7.296, "subtask": "pick up the black lid from the top of the can"}, {"start_sec": 7.296, "end_sec": 10.338, "subtask": "place the black lid on the table right next to the can"}]


Instruction: Remove the pen from the mug and put it on the table

[{"start_sec": 0.0, "end_sec": 7.809, "subtask": "pick up the pen from the black-red cup"}, {"start_sec": 7.809, "end_sec": 11.718, "subtask": "place the pen on the table left next to the cup"}]


Instruction: Remove the pen from the mug and put it on the table

[{"start_sec": 0.0, "end_sec": 7.782, "subtask": "pick up the pen from the black-red cup"}, {"start_sec": 7.782, "end_sec": 11.709, "subtask": "place the pen on the table to the left of the cup"}]


Instruction: Pick the bottle on the table and put it in the mug

[{"start_sec": 0.0, "end_sec": 8.871, "subtask": "pick up the solid glue from the table"}, {"start_sec": 8.871, "end_sec": 13.8, "subtask": "place the solid glue in the yellow cup"}]


Instruction: Pick the bottle on the table and put it in the mug

[{"start_sec": 0.0, "end_sec": 9.3, "subtask": "pick up the solid glue from the table"}, {"start_sec": 9.3, "end_sec": 13.531, "subtask": "place the solid glue in the yellow cup"}]


Instruction: Put the cloth on the countertop shield

[{"start_sec": 0.0, "end_sec": 6.096, "subtask": "pick up the cloth from the purple mat on the table"}, {"start_sec": 6.096, "end_sec": 14.933, "subtask": "drape the green cloth over the transparent plastic barrier"}]


Instruction: Put the blue object inside the drawer.

[{"start_sec": 0.0, "end_sec": 5.855, "subtask": "pick up the blue block from the table"}, {"start_sec": 5.855, "end_sec": 8.4, "subtask": "place the blue block inside the open drawer"}, {"start_sec": 8.4, "end_sec": 15.2, "subtask": "push the drawer door to close the drawer"}]


Instruction: Put the rubber band around the jar.

[{"start_sec": 0.0, "end_sec": 9.9, "subtask": "put the rubber band around the jar"}, {"start_sec": 9.9, "end_sec": 15.024, "subtask": "pull and release the rubber band"}]


Instruction: Put the blue object inside the drawer.

[{"start_sec": 0.0, "end_sec": 5.63, "subtask": "pick up the blue block from the table"}, {"start_sec": 5.636, "end_sec": 8.4, "subtask": "place the blue block inside the open drawer"}, {"start_sec": 8.4, "end_sec": 15.2, "subtask": "push the bottom drawer closed"}]


Instruction: Move the silver cup to the right

[{"start_sec": 0.0, "end_sec": 8.116, "subtask": "pick up the silver cup from the countertop behind the sink"}, {"start_sec": 8.116, "end_sec": 15.808, "subtask": "place the silver cup on the right side of the countertop next to the green dispenser"}]


Instruction: Put the cloth on the countertop shield

[{"start_sec": 0.0, "end_sec": 6.175, "subtask": "pick up the cloth from the purple mat on the table"}, {"start_sec": 6.175, "end_sec": 14.811, "subtask": "place the white cloth on top of the plastic barrier"}]


Instruction: Move the silver cup to the right

[{"start_sec": 0.0, "end_sec": 8.21, "subtask": "pick up the silver cup on the left side of the countertop"}, {"start_sec": 8.21, "end_sec": 15.607, "subtask": "place the silver cup on the right side of the countertop next to the dispenser with green liquid"}]


Instruction: Put the rubber band around the jar.

[{"start_sec": 0.0, "end_sec": 9.9, "subtask": "place the rubber band around the lid of the jar"}, {"start_sec": 9.9, "end_sec": 15.19, "subtask": "pull the rubber band and release it"}]


Instruction: Pick the marker from the pot and put it on the table

[{"start_sec": 0.0, "end_sec": 8.31, "subtask": "pick up the black marker from the metal pot"}, {"start_sec": 8.31, "end_sec": 14.681, "subtask": "place the black marker on the right top side of the wooden table"}]


Instruction: Pick the marker from the pot and put it on the table

[{"start_sec": 0.0, "end_sec": 7.919, "subtask": "pick up the marker from the container"}, {"start_sec": 7.936, "end_sec": 14.085, "subtask": "place the marker on the right top side of the table"}]


Instruction: Put the tomato inside the silver bowl

[{"start_sec": 0.0, "end_sec": 10.314, "subtask": "reach for the tomato on the left side of the table"}, {"start_sec": 10.331, "end_sec": 16.286, "subtask": "place the tomato inside the silver bowl"}]


Instruction: Pick the stuffed pineapple and put it beside the oven

[{"start_sec": 0.0, "end_sec": 9.264, "subtask": "pick up the soft pineapple from the table"}, {"start_sec": 9.277, "end_sec": 18.404, "subtask": "place the soft pineapple beside the oven next to banana"}]


Instruction: Move the cup lid to the right

[{"start_sec": 0.0, "end_sec": 9.687, "subtask": "pick up the lid from the cup on the table"}, {"start_sec": 9.695, "end_sec": 16.024, "subtask": "place the cup lid on the table to left of the cup with noodles"}]


Instruction: Put the tomato inside the silver bowl

[{"start_sec": 0.0, "end_sec": 10.691, "subtask": "pick up the red tomato on the left side of the table"}, {"start_sec": 10.734, "end_sec": 15.234, "subtask": "place the red tomato inside the silver bowl"}]


Instruction: Move the cup lid to the right

[{"start_sec": 0.0, "end_sec": 10.0, "subtask": "pick up the lid on from the cup"}, {"start_sec": 10.012, "end_sec": 16.441, "subtask": "place the lid on the table next to the right cup on the table"}]


Instruction: Pick the stuffed pineapple and put it beside the oven

[{"start_sec": 0.0, "end_sec": 9.029, "subtask": "pick up the soft pineapple from the table"}, {"start_sec": 9.033, "end_sec": 18.093, "subtask": "place the soft pineapple beside the oven"}]


Instruction: Pick up the piece of paper from the edge of the table and move it forward.

[{"start_sec": 0.0, "end_sec": 10.048, "subtask": "pick up the piece of paper from the bottom-left edge of the desk"}, {"start_sec": 10.059, "end_sec": 16.418, "subtask": "place the paper on the shelf in front of the books"}]


Instruction: Pick up a bottle from the tray and put it on the table

[{"start_sec": 0.0, "end_sec": 15.098, "subtask": "pick up the bottle from the wooden tray"}, {"start_sec": 15.101, "end_sec": 22.397, "subtask": "place the bottle and to the right of the wooden tray"}]


Instruction: Pick up a bottle from the tray and put it on the table

[{"start_sec": 0.0, "end_sec": 15.115, "subtask": "pick up the left-most bottle on the in the wooden tray"}, {"start_sec": 15.139, "end_sec": 22.357, "subtask": "place the bottle on the table to the bottom right of the tray"}]


Instruction: Pick up the pink and silver measuring spoon from the open drawer and put it on the kitchen counter

[{"start_sec": 0.0, "end_sec": 19.341, "subtask": "pick up the red measuring spoon from the open drawer"}, {"start_sec": 19.377, "end_sec": 26.121, "subtask": "place the red measuring spoon on the kitchen counter left next to the gray measuring spoon"}]


Instruction: Pick up the pink and silver measuring spoon from the open drawer and put it on the kitchen counter

[{"start_sec": 0.0, "end_sec": 19.9, "subtask": "pick up the red measuring spoon from the open drawer"}, {"start_sec": 19.922, "end_sec": 25.922, "subtask": "place the red measuring spoon on the kitchen counter next to the grey measuring spoon"}]


Instruction: Remove the gray toy from the bowl and put in it in the toy sink

[{"start_sec": 0.0, "end_sec": 22.025, "subtask": "pick up the gray toy from the bowl"}, {"start_sec": 22.051, "end_sec": 27.919, "subtask": "drop the gray toy into the toy sink basin"}]


Instruction: Remove the gray toy from the bowl and put in it in the toy sink

[{"start_sec": 0.0, "end_sec": 21.41, "subtask": "pick up the gray toy from the bowl"}, {"start_sec": 21.41, "end_sec": 26.805, "subtask": "drop the gray toy in the toy sink"}]


Instruction: Clean the white lid

[{"start_sec": 0.0, "end_sec": 7.583, "subtask": "pick up the white cloth from the table"}, {"start_sec": 7.611, "end_sec": 20.9, "subtask": "wipe the white lid with the cleaning cloth"}, {"start_sec": 20.902, "end_sec": 26.701, "subtask": "place the cleaning cloth next purple spray"}]


Instruction: Put the small white drawer in the top drawer and then close the drawer

[{"start_sec": 0.0, "end_sec": 12.849, "subtask": "pick up the small white drawer from the open cabinet drawer"}, {"start_sec": 12.849, "end_sec": 20.8, "subtask": "place the small white box inside the open wooden drawer"}, {"start_sec": 20.8, "end_sec": 28.5, "subtask": "push the drawer inward to close"}]


Instruction: Clean the white lid

[{"start_sec": 0.0, "end_sec": 7.547, "subtask": "pick up the cleaning cloth from the table"}, {"start_sec": 7.547, "end_sec": 20.9, "subtask": "wipe the white lid with the cleaning cloth"}, {"start_sec": 20.922, "end_sec": 26.101, "subtask": "place the cleaning cloth next to the white lid"}]


Instruction: Put the small white drawer in the top drawer and then close the drawer

[{"start_sec": 0.0, "end_sec": 12.945, "subtask": "pick up the small white box from the shelf"}, {"start_sec": 12.945, "end_sec": 19.393, "subtask": "place the small white box inside the open top drawer"}, {"start_sec": 19.393, "end_sec": 28.5, "subtask": "push the top drawer of the brown cabinet inward to close it"}]


Instruction: Remove the glass cup from the grey plate.

[{"start_sec": 0.0, "end_sec": 17.935, "subtask": "pick up the glass cup from the grey plate"}, {"start_sec": 17.97, "end_sec": 28.545, "subtask": "place the glass cup on the white table to the right of a yellow sponge"}]


Instruction: Cover the pot

[{"start_sec": 0.0, "end_sec": 9.531, "subtask": "pick up the glass lid from the table"}, {"start_sec": 9.559, "end_sec": 31.062, "subtask": "place the glass lid on top of the black pot"}]


Instruction: Cover the pot

[{"start_sec": 0.0, "end_sec": 9.648, "subtask": "grasp the handle of the glass lid on the table"}, {"start_sec": 9.652, "end_sec": 29.227, "subtask": "place the glass lid on top of the black pot"}]


Instruction: put the desktop items into the drawer and close the drawer

[{"start_sec": 0.0, "end_sec": 11.668, "subtask": "pick up the grey electronic meter from the table"}, {"start_sec": 11.714, "end_sec": 15.837, "subtask": "place the grey electronic meter into the drawer into the right most container"}, {"start_sec": 15.837, "end_sec": 21.142, "subtask": "pick up the grey electronic meter from the table"}, {"start_sec": 21.157, "end_sec": 24.857, "subtask": "place the grey electronic meter into the right most compartment of the drawer organizer"}, {"start_sec": 24.857, "end_sec": 34.995, "subtask": "push to the drawer to close the drawer"}]


Instruction: put the desktop items into the drawer and close the drawer

[{"start_sec": 0.0, "end_sec": 11.8, "subtask": "pick up the grey electronic meter on the table"}, {"start_sec": 11.819, "end_sec": 16.1, "subtask": "place the grey electronic meter into the drawer into the right most container"}, {"start_sec": 16.1, "end_sec": 21.3, "subtask": "pick up the grey electronic meter on the table"}, {"start_sec": 21.368, "end_sec": 25.541, "subtask": "place the grey electronic meter into the drawer into the right most container"}, {"start_sec": 25.594, "end_sec": 36.5, "subtask": "push to the drawer to close the drawer"}]


Instruction: Pick up the building block toys from the top of the cabinet and put them in the black bowl.

[{"start_sec": 0.0, "end_sec": 8.291, "subtask": "pick up the blue building block from the top of the cabinet"}, {"start_sec": 8.291, "end_sec": 13.1, "subtask": "drop the blue building block into the black bowl"}, {"start_sec": 13.1, "end_sec": 15.745, "subtask": "pick up the green building block from the top of the cabinet"}, {"start_sec": 15.745, "end_sec": 19.6, "subtask": "drop the green building block into the black bowl"}, {"start_sec": 19.6, "end_sec": 27.432, "subtask": "pick up the red building block from the top of the cabinet"}, {"start_sec": 27.432, "end_sec": 29.749, "subtask": "drop the red building block into the black bowl"}, {"start_sec": 29.749, "end_sec": 37.272, "subtask": "pick up the yellow building block from the top of the cabinet"}, {"start_sec": 37.272, "end_sec": 41.203, "subtask": "drop the yellow building block into the black bowl"}]


Instruction: Pick up the building block toys from the top of the cabinet and put them in the black bowl.

[{"start_sec": 0.0, "end_sec": 8.26, "subtask": "pick up the blue building block from the top of the cabinet"}, {"start_sec": 8.26, "end_sec": 11.296, "subtask": "drop the blue building block into the black bowl"}, {"start_sec": 11.296, "end_sec": 16.554, "subtask": "pick up the green building block from the top of the cabinet"}, {"start_sec": 16.554, "end_sec": 19.196, "subtask": "drop the green building block into the black bowl"}, {"start_sec": 19.196, "end_sec": 27.276, "subtask": "pick up the red building block from the top of the cabinet"}, {"start_sec": 27.276, "end_sec": 30.06, "subtask": "drop the red building block into the black bowl"}, {"start_sec": 30.06, "end_sec": 37.148, "subtask": "pick up the yellow building block from the top of the cabinet"}, {"start_sec": 37.148, "end_sec": 41.545, "subtask": "drop the yellow building block into the black bowl"}]


Instruction: Put half a spoon of the blue bowl's contents into the small crate

[{"start_sec": 0.0, "end_sec": 15.153, "subtask": "pick up the spoon from the blue bowl"}, {"start_sec": 15.153, "end_sec": 35.637, "subtask": "scoop contents from the blue bowl with the spoon"}, {"start_sec": 35.637, "end_sec": 57.366, "subtask": "pour the contents of the spoon into the small  wooden box"}, {"start_sec": 57.366, "end_sec": 63.906, "subtask": "place the spoon into the blue bowl"}]


Instruction: Put half a spoon of the blue bowl's contents into the small crate

[{"start_sec": 0.0, "end_sec": 14.826, "subtask": "pick up the spoon from the blue bowl"}, {"start_sec": 14.826, "end_sec": 36.057, "subtask": "scoop contents from the blue bowl using the spoon"}, {"start_sec": 36.057, "end_sec": 56.992, "subtask": "pour contents from the spoon into the small wooden crate"}, {"start_sec": 56.992, "end_sec": 63.766, "subtask": "place the spoon in the bowl"}]


Instruction: move the object into the box

[{"start_sec": 0.0, "end_sec": 8.687, "subtask": "pick up the black marker from the yellow sheet on the table"}, {"start_sec": 8.687, "end_sec": 14.432, "subtask": "place the black marker on the yellow sheet of paper"}, {"start_sec": 14.432, "end_sec": 30.975, "subtask": "fold the yellow cloth in half"}, {"start_sec": 30.975, "end_sec": 40.72, "subtask": "fold the left edge of the yellow cloth into the center."}, {"start_sec": 40.72, "end_sec": 45.461, "subtask": "move the folded cloth to the left"}, {"start_sec": 45.461, "end_sec": 62.2, "subtask": "bring the right edge of yellow cloth across and lay it over the folded section."}, {"start_sec": 62.2, "end_sec": 66.05, "subtask": "pick up the yellow cloth from the table"}, {"start_sec": 66.05, "end_sec": 72.619, "subtask": "place the yellow cloth inside the cardboard box"}]


Instruction: move the object into the box

[{"start_sec": 0.0, "end_sec": 8.849, "subtask": "pick up the black marker from the table"}, {"start_sec": 8.849, "end_sec": 13.762, "subtask": "place the black marker onto the yellow sheet of paper"}, {"start_sec": 13.762, "end_sec": 31.526, "subtask": "fold the yellow sheet in half"}, {"start_sec": 31.526, "end_sec": 41.664, "subtask": "fold the left edge of the yellow cloth into the center."}, {"start_sec": 41.664, "end_sec": 45.389, "subtask": "move the yellow cloth to the left"}, {"start_sec": 45.389, "end_sec": 59.331, "subtask": "bring the right edge of yellow cloth across and lay it over the folded section."}, {"start_sec": 59.331, "end_sec": 65.479, "subtask": "pick up the yellow cloth from the table"}, {"start_sec": 65.479, "end_sec": 72.511, "subtask": "place the yellow cloth into a box"}]


Instruction: moving the plug from the table and inserting it into the power strip

[{"start_sec": 0.0, "end_sec": 21.833, "subtask": "pick up the white plug from the table"}, {"start_sec": 21.833, "end_sec": 63.669, "subtask": "insert the black plug into the middle of the power strip on the table"}, {"start_sec": 63.669, "end_sec": 75.133, "subtask": "push the plug into the power strip on the table"}]


Instruction: moving the plug from the table and inserting it into the power strip

[{"start_sec": 0.0, "end_sec": 22.2, "subtask": "pick up the white plug from the table"}, {"start_sec": 22.2, "end_sec": 64.548, "subtask": "insert the black plug into the middle of the power strip on the table"}, {"start_sec": 64.6, "end_sec": 75.9, "subtask": "push the plug into the power strip on the table"}]


Instruction: Spoon some contents from the white bowl into the green bowl twice

[{"start_sec": 0.0, "end_sec": 14.832, "subtask": "pick up the spoon from the green bowl on the left"}, {"start_sec": 14.832, "end_sec": 33.455, "subtask": "scoop some contents from the white bowl with the spoon"}, {"start_sec": 33.455, "end_sec": 56.026, "subtask": "pour the contents from the spoon into the green bowl on the left"}, {"start_sec": 56.026, "end_sec": 69.894, "subtask": "scoop some contents from the white bowl with the spoon"}, {"start_sec": 69.894, "end_sec": 94.213, "subtask": "pour the contents from the spoon into the green bowl on the left"}, {"start_sec": 94.213, "end_sec": 104.823, "subtask": "place the spoon into the white bowl on the right"}]


Instruction: Spoon some contents from the white bowl into the green bowl twice

[{"start_sec": 0.0, "end_sec": 14.832, "subtask": "pick up the spoon from the green bowl on the left"}, {"start_sec": 14.832, "end_sec": 34.152, "subtask": "scoop some contents from the white bowl with the spoon"}, {"start_sec": 34.152, "end_sec": 56.103, "subtask": "pour the contents from the spoon into the green bowl on the left"}, {"start_sec": 56.103, "end_sec": 69.739, "subtask": "scoop some contents from the white bowl with the spoon"}, {"start_sec": 69.739, "end_sec": 94.058, "subtask": "pour the contents from the spoon into the green bowl on the left"}, {"start_sec": 94.058, "end_sec": 104.668, "subtask": "place the spoon into the white bowl on the right"}]